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<h1>src/qvsfm/qvgea/quaternionEssentialEvaluation.cpp</h1><a href="quaternionEssentialEvaluation_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> *      Copyright (C) 2011, 2012. PARP Research Group.</span>
<a name="l00003"></a>00003 <span class="comment"> *      &lt;http://perception.inf.um.es&gt;</span>
<a name="l00004"></a>00004 <span class="comment"> *      University of Murcia, Spain.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *      This file is part of the QVision library.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> *      QVision is free software: you can redistribute it and/or modify</span>
<a name="l00009"></a>00009 <span class="comment"> *      it under the terms of the GNU Lesser General Public License as</span>
<a name="l00010"></a>00010 <span class="comment"> *      published by the Free Software Foundation, version 3 of the License.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> *      QVision is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> *      but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00015"></a>00015 <span class="comment"> *      GNU Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> *      You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> *      License along with QVision. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020 
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include &lt;<a class="code" href="quaternionEssentialEvaluation_8h.html" title="File from the QVision library.">qvsfm/qvgea/quaternionEssentialEvaluation.h</a>&gt;</span>
<a name="l00026"></a>00026 <span class="comment">/*</span>
<a name="l00027"></a>00027 <span class="comment">Maple code to generate the function &#39;essentialEvaluation&#39;:</span>
<a name="l00028"></a>00028 <span class="comment">--------------------------------------</span>
<a name="l00029"></a>00029 <span class="comment"></span>
<a name="l00030"></a>00030 <span class="comment">###################</span>
<a name="l00031"></a>00031 <span class="comment"># Including modules with required functionality</span>
<a name="l00032"></a>00032 <span class="comment">#</span>
<a name="l00033"></a>00033 <span class="comment">with(VectorCalculus):</span>
<a name="l00034"></a>00034 <span class="comment">with(LinearAlgebra):</span>
<a name="l00035"></a>00035 <span class="comment"></span>
<a name="l00036"></a>00036 <span class="comment">###################</span>
<a name="l00037"></a>00037 <span class="comment"># Defining some projective algebra functions</span>
<a name="l00038"></a>00038 <span class="comment">#</span>
<a name="l00039"></a>00039 <span class="comment">Norm2 := v -&gt; sqrt(v(1)^2 + v(2)^2 + v(3)^2):</span>
<a name="l00040"></a>00040 <span class="comment">#FromHomogeneous2D := p3D -&gt; Vector([p3D(1)/p3D(3), p3D(2)/p3D(3)]):</span>
<a name="l00041"></a>00041 <span class="comment">CrossProductMatrix := v -&gt; Matrix([[0, -v(3), v(2)], [v(3), 0, -v(1)], [-v(2), v(1), 0]]):</span>
<a name="l00042"></a>00042 <span class="comment">QuaternionToRotationMatrix := q -&gt;</span>
<a name="l00043"></a>00043 <span class="comment">        Matrix([[1,0,0],[0,1,0],[0,0,1]]) +</span>
<a name="l00044"></a>00044 <span class="comment">        (2.0 / (q(1)^2+q(2)^2+q(3)^2+q(4)^2)) *</span>
<a name="l00045"></a>00045 <span class="comment">        Matrix( [       [-q(2)*q(2)-q(3)*q(3), q(1)*q(2)-q(3)*q(4), q(3)*q(1)+q(2)*q(4)],</span>
<a name="l00046"></a>00046 <span class="comment">                        [q(1)*q(2)+q(3)*q(4), -q(3)*q(3)-q(1)*q(1), q(2)*q(3)-q(1)*q(4)],</span>
<a name="l00047"></a>00047 <span class="comment">                        [q(3)*q(1)-q(2)*q(4), q(2)*q(3)+q(1)*q(4), -q(2)*q(2)-q(1)*q(1)]</span>
<a name="l00048"></a>00048 <span class="comment">                ]):</span>
<a name="l00049"></a>00049 <span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment">###################</span>
<a name="l00051"></a>00051 <span class="comment"># Epipolar expression.</span>
<a name="l00052"></a>00052 <span class="comment">#</span>
<a name="l00053"></a>00053 <span class="comment"># The essential matrix is expressed related to two cameras, defined by the vectors</span>
<a name="l00054"></a>00054 <span class="comment">#</span>
<a name="l00055"></a>00055 <span class="comment">#       [v1x0, v1x1, v1x2, v1x3, v1x4, v1x5, v1x6]</span>
<a name="l00056"></a>00056 <span class="comment">#</span>
<a name="l00057"></a>00057 <span class="comment">#       and</span>
<a name="l00058"></a>00058 <span class="comment">#</span>
<a name="l00059"></a>00059 <span class="comment">#       [v2x0, v2x1, v2x2, v2x3, v2x4, v2x5, v2x6]</span>
<a name="l00060"></a>00060 <span class="comment">#</span>
<a name="l00061"></a>00061 <span class="comment">R1 := QuaternionToRotationMatrix(Vector([v1x0, v1x1, v1x2, v1x3])):</span>
<a name="l00062"></a>00062 <span class="comment">R2 := QuaternionToRotationMatrix(Vector([v2x0, v2x1, v2x2, v2x3])):</span>
<a name="l00063"></a>00063 <span class="comment">c1 := Vector([v1x4, v1x5, v1x6]):</span>
<a name="l00064"></a>00064 <span class="comment">c2 := Vector([v2x4, v2x5, v2x6]):</span>
<a name="l00065"></a>00065 <span class="comment">E := R2.CrossProductMatrix( (c2-c1) / Norm2(c2-c1)).Transpose(R1):</span>
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment">###################</span>
<a name="l00068"></a>00068 <span class="comment"># Vectorized expression of the essential matrix</span>
<a name="l00069"></a>00069 <span class="comment">#</span>
<a name="l00070"></a>00070 <span class="comment">vectorE := Vector([E(1,1), E(1,2), E(1,3), E(2,1), E(2,2), E(2,3), E(3,1), E(3,2), E(3,3)]):</span>
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment">###################</span>
<a name="l00073"></a>00073 <span class="comment"># Epipolar evaluation and Jacobian matrices.</span>
<a name="l00074"></a>00074 <span class="comment"># This matrix contains the jacobians for each pair of cameras in the map,</span>
<a name="l00075"></a>00075 <span class="comment"># and the evaluation of the epipolar error function, for the cameras</span>
<a name="l00076"></a>00076 <span class="comment">#</span>
<a name="l00077"></a>00077 <span class="comment">M := Matrix([</span>
<a name="l00078"></a>00078 <span class="comment">[ diff(vectorE(1), v1x0), diff(vectorE(1), v1x1), diff(vectorE(1), v1x2), diff(vectorE(1), v1x3), diff(vectorE(1), v1x4), diff(vectorE(1), v1x5), diff(vectorE(1), v1x6), diff(vectorE(1), v2x0), diff(vectorE(1), v2x1), diff(vectorE(1), v2x2), diff(vectorE(1), v2x3), diff(vectorE(1), v2x4), diff(vectorE(1), v2x5), diff(vectorE(1), v2x6), vectorE(1) ],</span>
<a name="l00079"></a>00079 <span class="comment">[ diff(vectorE(2), v1x0), diff(vectorE(2), v1x1), diff(vectorE(2), v1x2), diff(vectorE(2), v1x3), diff(vectorE(2), v1x4), diff(vectorE(2), v1x5), diff(vectorE(2), v1x6), diff(vectorE(2), v2x0), diff(vectorE(2), v2x1), diff(vectorE(2), v2x2), diff(vectorE(2), v2x3), diff(vectorE(2), v2x4), diff(vectorE(2), v2x5), diff(vectorE(2), v2x6), vectorE(2) ],</span>
<a name="l00080"></a>00080 <span class="comment">[ diff(vectorE(3), v1x0), diff(vectorE(3), v1x1), diff(vectorE(3), v1x2), diff(vectorE(3), v1x3), diff(vectorE(3), v1x4), diff(vectorE(3), v1x5), diff(vectorE(3), v1x6), diff(vectorE(3), v2x0), diff(vectorE(3), v2x1), diff(vectorE(3), v2x2), diff(vectorE(3), v2x3), diff(vectorE(3), v2x4), diff(vectorE(3), v2x5), diff(vectorE(3), v2x6), vectorE(3) ],</span>
<a name="l00081"></a>00081 <span class="comment">[ diff(vectorE(4), v1x0), diff(vectorE(4), v1x1), diff(vectorE(4), v1x2), diff(vectorE(4), v1x3), diff(vectorE(4), v1x4), diff(vectorE(4), v1x5), diff(vectorE(4), v1x6), diff(vectorE(4), v2x0), diff(vectorE(4), v2x1), diff(vectorE(4), v2x2), diff(vectorE(4), v2x3), diff(vectorE(4), v2x4), diff(vectorE(4), v2x5), diff(vectorE(4), v2x6), vectorE(4) ],</span>
<a name="l00082"></a>00082 <span class="comment">[ diff(vectorE(5), v1x0), diff(vectorE(5), v1x1), diff(vectorE(5), v1x2), diff(vectorE(5), v1x3), diff(vectorE(5), v1x4), diff(vectorE(5), v1x5), diff(vectorE(5), v1x6), diff(vectorE(5), v2x0), diff(vectorE(5), v2x1), diff(vectorE(5), v2x2), diff(vectorE(5), v2x3), diff(vectorE(5), v2x4), diff(vectorE(5), v2x5), diff(vectorE(5), v2x6), vectorE(5) ],</span>
<a name="l00083"></a>00083 <span class="comment">[ diff(vectorE(6), v1x0), diff(vectorE(6), v1x1), diff(vectorE(6), v1x2), diff(vectorE(6), v1x3), diff(vectorE(6), v1x4), diff(vectorE(6), v1x5), diff(vectorE(6), v1x6), diff(vectorE(6), v2x0), diff(vectorE(6), v2x1), diff(vectorE(6), v2x2), diff(vectorE(6), v2x3), diff(vectorE(6), v2x4), diff(vectorE(6), v2x5), diff(vectorE(6), v2x6), vectorE(6) ],</span>
<a name="l00084"></a>00084 <span class="comment">[ diff(vectorE(7), v1x0), diff(vectorE(7), v1x1), diff(vectorE(7), v1x2), diff(vectorE(7), v1x3), diff(vectorE(7), v1x4), diff(vectorE(7), v1x5), diff(vectorE(7), v1x6), diff(vectorE(7), v2x0), diff(vectorE(7), v2x1), diff(vectorE(7), v2x2), diff(vectorE(7), v2x3), diff(vectorE(7), v2x4), diff(vectorE(7), v2x5), diff(vectorE(7), v2x6), vectorE(7) ],</span>
<a name="l00085"></a>00085 <span class="comment">[ diff(vectorE(8), v1x0), diff(vectorE(8), v1x1), diff(vectorE(8), v1x2), diff(vectorE(8), v1x3), diff(vectorE(8), v1x4), diff(vectorE(8), v1x5), diff(vectorE(8), v1x6), diff(vectorE(8), v2x0), diff(vectorE(8), v2x1), diff(vectorE(8), v2x2), diff(vectorE(8), v2x3), diff(vectorE(8), v2x4), diff(vectorE(8), v2x5), diff(vectorE(8), v2x6), vectorE(8) ],</span>
<a name="l00086"></a>00086 <span class="comment">[ diff(vectorE(9), v1x0), diff(vectorE(9), v1x1), diff(vectorE(9), v1x2), diff(vectorE(9), v1x3), diff(vectorE(9), v1x4), diff(vectorE(9), v1x5), diff(vectorE(9), v1x6), diff(vectorE(9), v2x0), diff(vectorE(9), v2x1), diff(vectorE(9), v2x2), diff(vectorE(9), v2x3), diff(vectorE(9), v2x4), diff(vectorE(9), v2x5), diff(vectorE(9), v2x6), vectorE(9) ]</span>
<a name="l00087"></a>00087 <span class="comment">]):</span>
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment">###################</span>
<a name="l00090"></a>00090 <span class="comment"># Display the C code to evaluate the previous matrix</span>
<a name="l00091"></a>00091 <span class="comment">#</span>
<a name="l00092"></a>00092 <span class="comment">CodeGeneration[C](M, optimize = true);</span>
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment">*/</span>
<a name="l00095"></a>00095 <span class="keywordtype">void</span> quaternionEssentialEvaluation(<span class="keyword">const</span> <span class="keywordtype">double</span> *pose1, <span class="keyword">const</span> <span class="keywordtype">double</span> *pose2, <span class="keywordtype">double</span> *cg)
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097 <span class="keyword">const</span> <span class="keywordtype">double</span>    
<a name="l00098"></a>00098                 v1x0 = pose1[0],
<a name="l00099"></a>00099                 v1x1 = pose1[1],
<a name="l00100"></a>00100                 v1x2 = pose1[2],
<a name="l00101"></a>00101                 v1x3 = pose1[3],
<a name="l00102"></a>00102                 v1x4 = pose1[4],
<a name="l00103"></a>00103                 v1x5 = pose1[5],
<a name="l00104"></a>00104                 v1x6 = pose1[6];
<a name="l00105"></a>00105 
<a name="l00106"></a>00106 <span class="keyword">const</span> <span class="keywordtype">double</span>    
<a name="l00107"></a>00107                 v2x0 = pose2[0],
<a name="l00108"></a>00108                 v2x1 = pose2[1],
<a name="l00109"></a>00109                 v2x2 = pose2[2],
<a name="l00110"></a>00110                 v2x3 = pose2[3],
<a name="l00111"></a>00111                 v2x4 = pose2[4],
<a name="l00112"></a>00112                 v2x5 = pose2[5],
<a name="l00113"></a>00113                 v2x6 = pose2[6];
<a name="l00114"></a>00114 
<a name="l00115"></a>00115 <span class="keyword">const</span> <span class="keywordtype">double</span> t1 = v2x0 * v2x0;
<a name="l00116"></a>00116 <span class="keyword">const</span> <span class="keywordtype">double</span> t2 = v2x1 * v2x1;
<a name="l00117"></a>00117 <span class="keyword">const</span> <span class="keywordtype">double</span> t3 = v2x2 * v2x2;
<a name="l00118"></a>00118 <span class="keyword">const</span> <span class="keywordtype">double</span> t4 = v2x3 * v2x3;
<a name="l00119"></a>00119 <span class="keyword">const</span> <span class="keywordtype">double</span> t5 = t1 + t2 + t3 + t4;
<a name="l00120"></a>00120 <span class="keyword">const</span> <span class="keywordtype">double</span> t6 = 0.1e1 / t5;
<a name="l00121"></a>00121 <span class="keyword">const</span> <span class="keywordtype">double</span> t8 = 0.20e1 * v2x0 * v2x1;
<a name="l00122"></a>00122 <span class="keyword">const</span> <span class="keywordtype">double</span> t10 = 0.20e1 * v2x2 * v2x3;
<a name="l00123"></a>00123 <span class="keyword">const</span> <span class="keywordtype">double</span> t11 = t8 - t10;
<a name="l00124"></a>00124 <span class="keyword">const</span> <span class="keywordtype">double</span> t12 = t6 * t11;
<a name="l00125"></a>00125 <span class="keyword">const</span> <span class="keywordtype">double</span> t13 =  ( v2x4 *  v2x4);
<a name="l00126"></a>00126 <span class="keyword">const</span> <span class="keywordtype">double</span> t16 =  ( v1x4 *  v1x4);
<a name="l00127"></a>00127 <span class="keyword">const</span> <span class="keywordtype">double</span> t17 =  ( v2x5 *  v2x5);
<a name="l00128"></a>00128 <span class="keyword">const</span> <span class="keywordtype">double</span> t20 =  ( v1x5 *  v1x5);
<a name="l00129"></a>00129 <span class="keyword">const</span> <span class="keywordtype">double</span> t21 =  ( v2x6 *  v2x6);
<a name="l00130"></a>00130 <span class="keyword">const</span> <span class="keywordtype">double</span> t24 =  ( v1x6 *  v1x6);
<a name="l00131"></a>00131 <span class="keyword">const</span> <span class="keywordtype">double</span> t25 = t13 - 2 * v2x4 * v1x4 + t16 + t17 - 2 * v2x5 * v1x5 + t20 + t21 - 2 * v2x6 * v1x6 + t24;
<a name="l00132"></a>00132 <span class="keyword">const</span> <span class="keywordtype">double</span> t26 = sqrt( t25);
<a name="l00133"></a>00133 <span class="keyword">const</span> <span class="keywordtype">double</span> t27 = 0.1e1 / t26;
<a name="l00134"></a>00134 <span class="keyword">const</span> <span class="keywordtype">double</span> t28 = v2x6 - v1x6;
<a name="l00135"></a>00135 <span class="keyword">const</span> <span class="keywordtype">double</span> t29 = t27 *  t28;
<a name="l00136"></a>00136 <span class="keyword">const</span> <span class="keywordtype">double</span> t32 = 0.20e1 * v2x2 * v2x0;
<a name="l00137"></a>00137 <span class="keyword">const</span> <span class="keywordtype">double</span> t34 = 0.20e1 * v2x1 * v2x3;
<a name="l00138"></a>00138 <span class="keyword">const</span> <span class="keywordtype">double</span> t35 = t32 + t34;
<a name="l00139"></a>00139 <span class="keyword">const</span> <span class="keywordtype">double</span> t36 = t6 * t35;
<a name="l00140"></a>00140 <span class="keyword">const</span> <span class="keywordtype">double</span> t37 = v2x5 - v1x5;
<a name="l00141"></a>00141 <span class="keyword">const</span> <span class="keywordtype">double</span> t38 = t27 *  t37;
<a name="l00142"></a>00142 <span class="keyword">const</span> <span class="keywordtype">double</span> t40 = t12 * t29 - t36 * t38;
<a name="l00143"></a>00143 <span class="keyword">const</span> <span class="keywordtype">double</span> t41 = v1x0 * v1x0;
<a name="l00144"></a>00144 <span class="keyword">const</span> <span class="keywordtype">double</span> t42 = v1x1 * v1x1;
<a name="l00145"></a>00145 <span class="keyword">const</span> <span class="keywordtype">double</span> t43 = v1x2 * v1x2;
<a name="l00146"></a>00146 <span class="keyword">const</span> <span class="keywordtype">double</span> t44 = v1x3 * v1x3;
<a name="l00147"></a>00147 <span class="keyword">const</span> <span class="keywordtype">double</span> t45 = t41 + t42 + t43 + t44;
<a name="l00148"></a>00148 <span class="keyword">const</span> <span class="keywordtype">double</span> t46 = t45 * t45;
<a name="l00149"></a>00149 <span class="keyword">const</span> <span class="keywordtype">double</span> t47 = 0.1e1 / t46;
<a name="l00150"></a>00150 <span class="keyword">const</span> <span class="keywordtype">double</span> t48 = t40 * t47;
<a name="l00151"></a>00151 <span class="keyword">const</span> <span class="keywordtype">double</span> t49 = 0.20e1 * t42;
<a name="l00152"></a>00152 <span class="keyword">const</span> <span class="keywordtype">double</span> t50 = 0.20e1 * t43;
<a name="l00153"></a>00153 <span class="keyword">const</span> <span class="keywordtype">double</span> t51 = -t49 - t50;
<a name="l00154"></a>00154 <span class="keyword">const</span> <span class="keywordtype">double</span> t52 = t51 * v1x0;
<a name="l00155"></a>00155 <span class="keyword">const</span> <span class="keywordtype">double</span> t55 = 0.20e1 * t2;
<a name="l00156"></a>00156 <span class="keyword">const</span> <span class="keywordtype">double</span> t56 = 0.20e1 * t3;
<a name="l00157"></a>00157 <span class="keyword">const</span> <span class="keywordtype">double</span> t57 = -t55 - t56;
<a name="l00158"></a>00158 <span class="keyword">const</span> <span class="keywordtype">double</span> t59 = 0.1e1 + t6 * t57;
<a name="l00159"></a>00159 <span class="keyword">const</span> <span class="keywordtype">double</span> t60 = t59 * t27;
<a name="l00160"></a>00160 <span class="keyword">const</span> <span class="keywordtype">double</span> t62 = v2x4 - v1x4;
<a name="l00161"></a>00161 <span class="keyword">const</span> <span class="keywordtype">double</span> t63 = t27 *  t62;
<a name="l00162"></a>00162 <span class="keyword">const</span> <span class="keywordtype">double</span> t65 = -t60 *  t28 + t36 * t63;
<a name="l00163"></a>00163 <span class="keyword">const</span> <span class="keywordtype">double</span> t66 = t65 * t47;
<a name="l00164"></a>00164 <span class="keyword">const</span> <span class="keywordtype">double</span> t68 = 0.20e1 * v1x0 * v1x1;
<a name="l00165"></a>00165 <span class="keyword">const</span> <span class="keywordtype">double</span> t70 = 0.20e1 * v1x2 * v1x3;
<a name="l00166"></a>00166 <span class="keyword">const</span> <span class="keywordtype">double</span> t71 = t68 - t70;
<a name="l00167"></a>00167 <span class="keyword">const</span> <span class="keywordtype">double</span> t72 = t71 * v1x0;
<a name="l00168"></a>00168 <span class="keyword">const</span> <span class="keywordtype">double</span> t75 = 0.1e1 / t45;
<a name="l00169"></a>00169 <span class="keyword">const</span> <span class="keywordtype">double</span> t76 = t65 * t75;
<a name="l00170"></a>00170 <span class="keyword">const</span> <span class="keywordtype">double</span> t78 = 0.20e1 * t76 * v1x1;
<a name="l00171"></a>00171 <span class="keyword">const</span> <span class="keywordtype">double</span> t81 = t60 *  t37 - t12 * t63;
<a name="l00172"></a>00172 <span class="keyword">const</span> <span class="keywordtype">double</span> t82 = t81 * t47;
<a name="l00173"></a>00173 <span class="keyword">const</span> <span class="keywordtype">double</span> t84 = 0.20e1 * v1x2 * v1x0;
<a name="l00174"></a>00174 <span class="keyword">const</span> <span class="keywordtype">double</span> t86 = 0.20e1 * v1x1 * v1x3;
<a name="l00175"></a>00175 <span class="keyword">const</span> <span class="keywordtype">double</span> t87 = t84 + t86;
<a name="l00176"></a>00176 <span class="keyword">const</span> <span class="keywordtype">double</span> t88 = t87 * v1x0;
<a name="l00177"></a>00177 <span class="keyword">const</span> <span class="keywordtype">double</span> t91 = t81 * t75;
<a name="l00178"></a>00178 <span class="keyword">const</span> <span class="keywordtype">double</span> t93 = 0.20e1 * t91 * v1x2;
<a name="l00179"></a>00179 <span class="keyword">const</span> <span class="keywordtype">double</span> t95 = t47 * t51;
<a name="l00180"></a>00180 <span class="keyword">const</span> <span class="keywordtype">double</span> t99 = 0.40e1 * t75 * v1x1;
<a name="l00181"></a>00181 <span class="keyword">const</span> <span class="keywordtype">double</span> t100 = -0.2e1 * t95 * v1x1 - t99;
<a name="l00182"></a>00182 <span class="keyword">const</span> <span class="keywordtype">double</span> t102 = t71 * v1x1;
<a name="l00183"></a>00183 <span class="keyword">const</span> <span class="keywordtype">double</span> t106 = 0.20e1 * t76 * v1x0;
<a name="l00184"></a>00184 <span class="keyword">const</span> <span class="keywordtype">double</span> t107 = t87 * v1x1;
<a name="l00185"></a>00185 <span class="keyword">const</span> <span class="keywordtype">double</span> t111 = 0.20e1 * t91 * v1x3;
<a name="l00186"></a>00186 <span class="keyword">const</span> <span class="keywordtype">double</span> t116 = 0.40e1 * t75 * v1x2;
<a name="l00187"></a>00187 <span class="keyword">const</span> <span class="keywordtype">double</span> t117 = -0.2e1 * t95 * v1x2 - t116;
<a name="l00188"></a>00188 <span class="keyword">const</span> <span class="keywordtype">double</span> t119 = t71 * v1x2;
<a name="l00189"></a>00189 <span class="keyword">const</span> <span class="keywordtype">double</span> t123 = 0.20e1 * t76 * v1x3;
<a name="l00190"></a>00190 <span class="keyword">const</span> <span class="keywordtype">double</span> t124 = t87 * v1x2;
<a name="l00191"></a>00191 <span class="keyword">const</span> <span class="keywordtype">double</span> t128 = 0.20e1 * t91 * v1x0;
<a name="l00192"></a>00192 <span class="keyword">const</span> <span class="keywordtype">double</span> t130 = t51 * v1x3;
<a name="l00193"></a>00193 <span class="keyword">const</span> <span class="keywordtype">double</span> t133 = t71 * v1x3;
<a name="l00194"></a>00194 <span class="keyword">const</span> <span class="keywordtype">double</span> t137 = 0.20e1 * t76 * v1x2;
<a name="l00195"></a>00195 <span class="keyword">const</span> <span class="keywordtype">double</span> t138 = t87 * v1x3;
<a name="l00196"></a>00196 <span class="keyword">const</span> <span class="keywordtype">double</span> t142 = 0.20e1 * t91 * v1x1;
<a name="l00197"></a>00197 <span class="keyword">const</span> <span class="keywordtype">double</span> t145 = 0.1e1 / t26 /  t25;
<a name="l00198"></a>00198 <span class="keyword">const</span> <span class="keywordtype">double</span> t146 = t145 *  t28;
<a name="l00199"></a>00199 <span class="keyword">const</span> <span class="keywordtype">double</span> t147 = -0.2e1 * t146 *  t62;
<a name="l00200"></a>00200 <span class="keyword">const</span> <span class="keywordtype">double</span> t149 = t145 *  t37;
<a name="l00201"></a>00201 <span class="keyword">const</span> <span class="keywordtype">double</span> t150 = -0.2e1 * t149 *  t62;
<a name="l00202"></a>00202 <span class="keyword">const</span> <span class="keywordtype">double</span> t152 = -t12 * t147 + t36 * t150;
<a name="l00203"></a>00203 <span class="keyword">const</span> <span class="keywordtype">double</span> t154 = 0.1e1 + t75 * t51;
<a name="l00204"></a>00204 <span class="keyword">const</span> <span class="keywordtype">double</span> t156 = t59 * t145;
<a name="l00205"></a>00205 <span class="keyword">const</span> <span class="keywordtype">double</span> t157 = -2 * t28 * t62;
<a name="l00206"></a>00206 <span class="keyword">const</span> <span class="keywordtype">double</span> t160 = t145 *  t62;
<a name="l00207"></a>00207 <span class="keyword">const</span> <span class="keywordtype">double</span> t161 = -0.2e1 * t160 *  t62;
<a name="l00208"></a>00208 <span class="keyword">const</span> <span class="keywordtype">double</span> t164 = t36 * t27;
<a name="l00209"></a>00209 <span class="keyword">const</span> <span class="keywordtype">double</span> t165 = t156 *  t157 / 0.2e1 - t36 * t161 / 0.2e1 - t164;
<a name="l00210"></a>00210 <span class="keyword">const</span> <span class="keywordtype">double</span> t166 = t165 * t75;
<a name="l00211"></a>00211 <span class="keyword">const</span> <span class="keywordtype">double</span> t168 = -2 * t37 * t62;
<a name="l00212"></a>00212 <span class="keyword">const</span> <span class="keywordtype">double</span> t173 = t12 * t27;
<a name="l00213"></a>00213 <span class="keyword">const</span> <span class="keywordtype">double</span> t174 = -t156 *  t168 / 0.2e1 + t12 * t161 / 0.2e1 + t173;
<a name="l00214"></a>00214 <span class="keyword">const</span> <span class="keywordtype">double</span> t175 = t174 * t75;
<a name="l00215"></a>00215 <span class="keyword">const</span> <span class="keywordtype">double</span> t178 = -0.2e1 * t146 *  t37;
<a name="l00216"></a>00216 <span class="keyword">const</span> <span class="keywordtype">double</span> t181 = -0.2e1 * t149 *  t37;
<a name="l00217"></a>00217 <span class="keyword">const</span> <span class="keywordtype">double</span> t184 = -t12 * t178 / 0.2e1 + t36 * t181 / 0.2e1 + t164;
<a name="l00218"></a>00218 <span class="keyword">const</span> <span class="keywordtype">double</span> t186 = -2 * t28 * t37;
<a name="l00219"></a>00219 <span class="keyword">const</span> <span class="keywordtype">double</span> t187 = t156 *  t186;
<a name="l00220"></a>00220 <span class="keyword">const</span> <span class="keywordtype">double</span> t188 = -0.2e1 * t160 *  t37;
<a name="l00221"></a>00221 <span class="keyword">const</span> <span class="keywordtype">double</span> t190 = t187 - t36 * t188;
<a name="l00222"></a>00222 <span class="keyword">const</span> <span class="keywordtype">double</span> t191 = t190 * t75 / 0.2e1;
<a name="l00223"></a>00223 <span class="keyword">const</span> <span class="keywordtype">double</span> t193 = -2 * t37 * t37;
<a name="l00224"></a>00224 <span class="keyword">const</span> <span class="keywordtype">double</span> t198 = -t156 *  t193 / 0.2e1 - t60 + t12 * t188 / 0.2e1;
<a name="l00225"></a>00225 <span class="keyword">const</span> <span class="keywordtype">double</span> t199 = t198 * t75;
<a name="l00226"></a>00226 <span class="keyword">const</span> <span class="keywordtype">double</span> t202 = -0.2e1 * t146 *  t28;
<a name="l00227"></a>00227 <span class="keyword">const</span> <span class="keywordtype">double</span> t205 = -0.2e1 * t149 *  t28;
<a name="l00228"></a>00228 <span class="keyword">const</span> <span class="keywordtype">double</span> t208 = -t12 * t202 / 0.2e1 - t173 + t36 * t205 / 0.2e1;
<a name="l00229"></a>00229 <span class="keyword">const</span> <span class="keywordtype">double</span> t210 = -2 * t28 * t28;
<a name="l00230"></a>00230 <span class="keyword">const</span> <span class="keywordtype">double</span> t213 = -0.2e1 * t160 *  t28;
<a name="l00231"></a>00231 <span class="keyword">const</span> <span class="keywordtype">double</span> t216 = t156 *  t210 / 0.2e1 + t60 - t36 * t213 / 0.2e1;
<a name="l00232"></a>00232 <span class="keyword">const</span> <span class="keywordtype">double</span> t217 = t216 * t75;
<a name="l00233"></a>00233 <span class="keyword">const</span> <span class="keywordtype">double</span> t220 = -t187 + t12 * t213;
<a name="l00234"></a>00234 <span class="keyword">const</span> <span class="keywordtype">double</span> t221 = t220 * t75 / 0.2e1;
<a name="l00235"></a>00235 <span class="keyword">const</span> <span class="keywordtype">double</span> t224 = t5 * t5;
<a name="l00236"></a>00236 <span class="keyword">const</span> <span class="keywordtype">double</span> t225 = 0.1e1 / t224;
<a name="l00237"></a>00237 <span class="keyword">const</span> <span class="keywordtype">double</span> t226 = t225 * t11;
<a name="l00238"></a>00238 <span class="keyword">const</span> <span class="keywordtype">double</span> t227 = t29 * v2x0;
<a name="l00239"></a>00239 <span class="keyword">const</span> <span class="keywordtype">double</span> t230 = t6 * v2x1;
<a name="l00240"></a>00240 <span class="keyword">const</span> <span class="keywordtype">double</span> t232 = 0.20e1 * t230 * t29;
<a name="l00241"></a>00241 <span class="keyword">const</span> <span class="keywordtype">double</span> t233 = t225 * t35;
<a name="l00242"></a>00242 <span class="keyword">const</span> <span class="keywordtype">double</span> t234 = t38 * v2x0;
<a name="l00243"></a>00243 <span class="keyword">const</span> <span class="keywordtype">double</span> t237 = t6 * v2x2;
<a name="l00244"></a>00244 <span class="keyword">const</span> <span class="keywordtype">double</span> t239 = 0.20e1 * t237 * t38;
<a name="l00245"></a>00245 <span class="keyword">const</span> <span class="keywordtype">double</span> t240 = -0.2e1 * t226 * t227 + t232 + 0.2e1 * t233 * t234 - t239;
<a name="l00246"></a>00246 <span class="keyword">const</span> <span class="keywordtype">double</span> t242 = t225 * t57;
<a name="l00247"></a>00247 <span class="keyword">const</span> <span class="keywordtype">double</span> t245 = t63 * v2x0;
<a name="l00248"></a>00248 <span class="keyword">const</span> <span class="keywordtype">double</span> t249 = 0.20e1 * t237 * t63;
<a name="l00249"></a>00249 <span class="keyword">const</span> <span class="keywordtype">double</span> t250 = 0.2e1 * t242 * t227 - 0.2e1 * t233 * t245 + t249;
<a name="l00250"></a>00250 <span class="keyword">const</span> <span class="keywordtype">double</span> t251 = t250 * t75;
<a name="l00251"></a>00251 <span class="keyword">const</span> <span class="keywordtype">double</span> t258 = 0.20e1 * t230 * t63;
<a name="l00252"></a>00252 <span class="keyword">const</span> <span class="keywordtype">double</span> t259 = -0.2e1 * t242 * t234 + 0.2e1 * t226 * t245 - t258;
<a name="l00253"></a>00253 <span class="keyword">const</span> <span class="keywordtype">double</span> t260 = t259 * t75;
<a name="l00254"></a>00254 <span class="keyword">const</span> <span class="keywordtype">double</span> t263 = t29 * v2x1;
<a name="l00255"></a>00255 <span class="keyword">const</span> <span class="keywordtype">double</span> t266 = t6 * v2x0;
<a name="l00256"></a>00256 <span class="keyword">const</span> <span class="keywordtype">double</span> t268 = 0.20e1 * t266 * t29;
<a name="l00257"></a>00257 <span class="keyword">const</span> <span class="keywordtype">double</span> t269 = t38 * v2x1;
<a name="l00258"></a>00258 <span class="keyword">const</span> <span class="keywordtype">double</span> t272 = t6 * v2x3;
<a name="l00259"></a>00259 <span class="keyword">const</span> <span class="keywordtype">double</span> t274 = 0.20e1 * t272 * t38;
<a name="l00260"></a>00260 <span class="keyword">const</span> <span class="keywordtype">double</span> t275 = -0.2e1 * t226 * t263 + t268 + 0.2e1 * t233 * t269 - t274;
<a name="l00261"></a>00261 <span class="keyword">const</span> <span class="keywordtype">double</span> t279 = 0.40e1 * t230;
<a name="l00262"></a>00262 <span class="keyword">const</span> <span class="keywordtype">double</span> t281 = (-0.2e1 * t242 * v2x1 - t279) * t27;
<a name="l00263"></a>00263 <span class="keyword">const</span> <span class="keywordtype">double</span> t283 = t63 * v2x1;
<a name="l00264"></a>00264 <span class="keyword">const</span> <span class="keywordtype">double</span> t287 = 0.20e1 * t272 * t63;
<a name="l00265"></a>00265 <span class="keyword">const</span> <span class="keywordtype">double</span> t288 = -t281 *  t28 - 0.2e1 * t233 * t283 + t287;
<a name="l00266"></a>00266 <span class="keyword">const</span> <span class="keywordtype">double</span> t289 = t288 * t75;
<a name="l00267"></a>00267 <span class="keyword">const</span> <span class="keywordtype">double</span> t295 = 0.20e1 * t266 * t63;
<a name="l00268"></a>00268 <span class="keyword">const</span> <span class="keywordtype">double</span> t296 = t281 *  t37 + 0.2e1 * t226 * t283 - t295;
<a name="l00269"></a>00269 <span class="keyword">const</span> <span class="keywordtype">double</span> t297 = t296 * t75;
<a name="l00270"></a>00270 <span class="keyword">const</span> <span class="keywordtype">double</span> t300 = t29 * v2x2;
<a name="l00271"></a>00271 <span class="keyword">const</span> <span class="keywordtype">double</span> t304 = 0.20e1 * t272 * t29;
<a name="l00272"></a>00272 <span class="keyword">const</span> <span class="keywordtype">double</span> t305 = t38 * v2x2;
<a name="l00273"></a>00273 <span class="keyword">const</span> <span class="keywordtype">double</span> t309 = 0.20e1 * t266 * t38;
<a name="l00274"></a>00274 <span class="keyword">const</span> <span class="keywordtype">double</span> t310 = -0.2e1 * t226 * t300 - t304 + 0.2e1 * t233 * t305 - t309;
<a name="l00275"></a>00275 <span class="keyword">const</span> <span class="keywordtype">double</span> t314 = 0.40e1 * t237;
<a name="l00276"></a>00276 <span class="keyword">const</span> <span class="keywordtype">double</span> t316 = (-0.2e1 * t242 * v2x2 - t314) * t27;
<a name="l00277"></a>00277 <span class="keyword">const</span> <span class="keywordtype">double</span> t318 = t63 * v2x2;
<a name="l00278"></a>00278 <span class="keyword">const</span> <span class="keywordtype">double</span> t321 = -t316 *  t28 - 0.2e1 * t233 * t318 + t295;
<a name="l00279"></a>00279 <span class="keyword">const</span> <span class="keywordtype">double</span> t322 = t321 * t75;
<a name="l00280"></a>00280 <span class="keyword">const</span> <span class="keywordtype">double</span> t327 = t316 *  t37 + 0.2e1 * t226 * t318 + t287;
<a name="l00281"></a>00281 <span class="keyword">const</span> <span class="keywordtype">double</span> t328 = t327 * t75;
<a name="l00282"></a>00282 <span class="keyword">const</span> <span class="keywordtype">double</span> t331 = t29 * v2x3;
<a name="l00283"></a>00283 <span class="keyword">const</span> <span class="keywordtype">double</span> t335 = 0.20e1 * t237 * t29;
<a name="l00284"></a>00284 <span class="keyword">const</span> <span class="keywordtype">double</span> t336 = t38 * v2x3;
<a name="l00285"></a>00285 <span class="keyword">const</span> <span class="keywordtype">double</span> t340 = 0.20e1 * t230 * t38;
<a name="l00286"></a>00286 <span class="keyword">const</span> <span class="keywordtype">double</span> t341 = -0.2e1 * t226 * t331 - t335 + 0.2e1 * t233 * t336 - t340;
<a name="l00287"></a>00287 <span class="keyword">const</span> <span class="keywordtype">double</span> t345 = t63 * v2x3;
<a name="l00288"></a>00288 <span class="keyword">const</span> <span class="keywordtype">double</span> t348 = 0.2e1 * t242 * t331 - 0.2e1 * t233 * t345 + t258;
<a name="l00289"></a>00289 <span class="keyword">const</span> <span class="keywordtype">double</span> t349 = t348 * t75;
<a name="l00290"></a>00290 <span class="keyword">const</span> <span class="keywordtype">double</span> t355 = -0.2e1 * t242 * t336 + 0.2e1 * t226 * t345 + t249;
<a name="l00291"></a>00291 <span class="keyword">const</span> <span class="keywordtype">double</span> t356 = t355 * t75;
<a name="l00292"></a>00292 <span class="keyword">const</span> <span class="keywordtype">double</span> t359 = 0.2e1 * t146 *  t62;
<a name="l00293"></a>00293 <span class="keyword">const</span> <span class="keywordtype">double</span> t361 = 0.2e1 * t149 *  t62;
<a name="l00294"></a>00294 <span class="keyword">const</span> <span class="keywordtype">double</span> t363 = -t12 * t359 + t36 * t361;
<a name="l00295"></a>00295 <span class="keyword">const</span> <span class="keywordtype">double</span> t365 = 2 * t28 * t62;
<a name="l00296"></a>00296 <span class="keyword">const</span> <span class="keywordtype">double</span> t368 = 0.2e1 * t160 *  t62;
<a name="l00297"></a>00297 <span class="keyword">const</span> <span class="keywordtype">double</span> t371 = t156 *  t365 / 0.2e1 - t36 * t368 / 0.2e1 + t164;
<a name="l00298"></a>00298 <span class="keyword">const</span> <span class="keywordtype">double</span> t372 = t371 * t75;
<a name="l00299"></a>00299 <span class="keyword">const</span> <span class="keywordtype">double</span> t374 = 2 * t37 * t62;
<a name="l00300"></a>00300 <span class="keyword">const</span> <span class="keywordtype">double</span> t379 = -t156 *  t374 / 0.2e1 + t12 * t368 / 0.2e1 - t173;
<a name="l00301"></a>00301 <span class="keyword">const</span> <span class="keywordtype">double</span> t380 = t379 * t75;
<a name="l00302"></a>00302 <span class="keyword">const</span> <span class="keywordtype">double</span> t383 = 0.2e1 * t146 *  t37;
<a name="l00303"></a>00303 <span class="keyword">const</span> <span class="keywordtype">double</span> t386 = 0.2e1 * t149 *  t37;
<a name="l00304"></a>00304 <span class="keyword">const</span> <span class="keywordtype">double</span> t389 = -t12 * t383 / 0.2e1 + t36 * t386 / 0.2e1 - t164;
<a name="l00305"></a>00305 <span class="keyword">const</span> <span class="keywordtype">double</span> t391 = 2 * t28 * t37;
<a name="l00306"></a>00306 <span class="keyword">const</span> <span class="keywordtype">double</span> t392 = t156 *  t391;
<a name="l00307"></a>00307 <span class="keyword">const</span> <span class="keywordtype">double</span> t393 = 0.2e1 * t160 *  t37;
<a name="l00308"></a>00308 <span class="keyword">const</span> <span class="keywordtype">double</span> t395 = t392 - t36 * t393;
<a name="l00309"></a>00309 <span class="keyword">const</span> <span class="keywordtype">double</span> t396 = t395 * t75 / 0.2e1;
<a name="l00310"></a>00310 <span class="keyword">const</span> <span class="keywordtype">double</span> t398 = 2 * t37 * t37;
<a name="l00311"></a>00311 <span class="keyword">const</span> <span class="keywordtype">double</span> t403 = -t156 *  t398 / 0.2e1 + t60 + t12 * t393 / 0.2e1;
<a name="l00312"></a>00312 <span class="keyword">const</span> <span class="keywordtype">double</span> t404 = t403 * t75;
<a name="l00313"></a>00313 <span class="keyword">const</span> <span class="keywordtype">double</span> t407 = 0.2e1 * t146 *  t28;
<a name="l00314"></a>00314 <span class="keyword">const</span> <span class="keywordtype">double</span> t410 = 0.2e1 * t149 *  t28;
<a name="l00315"></a>00315 <span class="keyword">const</span> <span class="keywordtype">double</span> t413 = -t12 * t407 / 0.2e1 + t173 + t36 * t410 / 0.2e1;
<a name="l00316"></a>00316 <span class="keyword">const</span> <span class="keywordtype">double</span> t415 = 2 * t28 * t28;
<a name="l00317"></a>00317 <span class="keyword">const</span> <span class="keywordtype">double</span> t418 = 0.2e1 * t160 *  t28;
<a name="l00318"></a>00318 <span class="keyword">const</span> <span class="keywordtype">double</span> t421 = t156 *  t415 / 0.2e1 - t60 - t36 * t418 / 0.2e1;
<a name="l00319"></a>00319 <span class="keyword">const</span> <span class="keywordtype">double</span> t422 = t421 * t75;
<a name="l00320"></a>00320 <span class="keyword">const</span> <span class="keywordtype">double</span> t425 = -t392 + t12 * t418;
<a name="l00321"></a>00321 <span class="keyword">const</span> <span class="keywordtype">double</span> t426 = t425 * t75 / 0.2e1;
<a name="l00322"></a>00322 <span class="keyword">const</span> <span class="keywordtype">double</span> t433 = t68 + t70;
<a name="l00323"></a>00323 <span class="keyword">const</span> <span class="keywordtype">double</span> t434 = t433 * v1x0;
<a name="l00324"></a>00324 <span class="keyword">const</span> <span class="keywordtype">double</span> t437 = t40 * t75;
<a name="l00325"></a>00325 <span class="keyword">const</span> <span class="keywordtype">double</span> t439 = 0.20e1 * t437 * v1x1;
<a name="l00326"></a>00326 <span class="keyword">const</span> <span class="keywordtype">double</span> t440 = 0.20e1 * t41;
<a name="l00327"></a>00327 <span class="keyword">const</span> <span class="keywordtype">double</span> t441 = -t50 - t440;
<a name="l00328"></a>00328 <span class="keyword">const</span> <span class="keywordtype">double</span> t442 = t47 * t441;
<a name="l00329"></a>00329 <span class="keyword">const</span> <span class="keywordtype">double</span> t446 = 0.40e1 * t75 * v1x0;
<a name="l00330"></a>00330 <span class="keyword">const</span> <span class="keywordtype">double</span> t447 = -0.2e1 * t442 * v1x0 - t446;
<a name="l00331"></a>00331 <span class="keyword">const</span> <span class="keywordtype">double</span> t450 = 0.20e1 * v1x1 * v1x2;
<a name="l00332"></a>00332 <span class="keyword">const</span> <span class="keywordtype">double</span> t452 = 0.20e1 * v1x0 * v1x3;
<a name="l00333"></a>00333 <span class="keyword">const</span> <span class="keywordtype">double</span> t453 = t450 - t452;
<a name="l00334"></a>00334 <span class="keyword">const</span> <span class="keywordtype">double</span> t454 = t453 * v1x0;
<a name="l00335"></a>00335 <span class="keyword">const</span> <span class="keywordtype">double</span> t458 = t433 * v1x1;
<a name="l00336"></a>00336 <span class="keyword">const</span> <span class="keywordtype">double</span> t462 = 0.20e1 * t437 * v1x0;
<a name="l00337"></a>00337 <span class="keyword">const</span> <span class="keywordtype">double</span> t463 = t441 * v1x1;
<a name="l00338"></a>00338 <span class="keyword">const</span> <span class="keywordtype">double</span> t466 = t453 * v1x1;
<a name="l00339"></a>00339 <span class="keyword">const</span> <span class="keywordtype">double</span> t470 = t433 * v1x2;
<a name="l00340"></a>00340 <span class="keyword">const</span> <span class="keywordtype">double</span> t474 = 0.20e1 * t437 * v1x3;
<a name="l00341"></a>00341 <span class="keyword">const</span> <span class="keywordtype">double</span> t477 = -0.2e1 * t442 * v1x2 - t116;
<a name="l00342"></a>00342 <span class="keyword">const</span> <span class="keywordtype">double</span> t479 = t453 * v1x2;
<a name="l00343"></a>00343 <span class="keyword">const</span> <span class="keywordtype">double</span> t483 = t433 * v1x3;
<a name="l00344"></a>00344 <span class="keyword">const</span> <span class="keywordtype">double</span> t487 = 0.20e1 * t437 * v1x2;
<a name="l00345"></a>00345 <span class="keyword">const</span> <span class="keywordtype">double</span> t488 = t441 * v1x3;
<a name="l00346"></a>00346 <span class="keyword">const</span> <span class="keywordtype">double</span> t491 = t453 * v1x3;
<a name="l00347"></a>00347 <span class="keyword">const</span> <span class="keywordtype">double</span> t495 = t152 * t75 / 0.2e1;
<a name="l00348"></a>00348 <span class="keyword">const</span> <span class="keywordtype">double</span> t498 = 0.1e1 + t75 * t441;
<a name="l00349"></a>00349 <span class="keyword">const</span> <span class="keywordtype">double</span> t502 = t184 * t75;
<a name="l00350"></a>00350 <span class="keyword">const</span> <span class="keywordtype">double</span> t507 = t208 * t75;
<a name="l00351"></a>00351 <span class="keyword">const</span> <span class="keywordtype">double</span> t512 = t240 * t75;
<a name="l00352"></a>00352 <span class="keyword">const</span> <span class="keywordtype">double</span> t517 = t275 * t75;
<a name="l00353"></a>00353 <span class="keyword">const</span> <span class="keywordtype">double</span> t522 = t310 * t75;
<a name="l00354"></a>00354 <span class="keyword">const</span> <span class="keywordtype">double</span> t527 = t341 * t75;
<a name="l00355"></a>00355 <span class="keyword">const</span> <span class="keywordtype">double</span> t532 = t363 * t75 / 0.2e1;
<a name="l00356"></a>00356 <span class="keyword">const</span> <span class="keywordtype">double</span> t537 = t389 * t75;
<a name="l00357"></a>00357 <span class="keyword">const</span> <span class="keywordtype">double</span> t542 = t413 * t75;
<a name="l00358"></a>00358 <span class="keyword">const</span> <span class="keywordtype">double</span> t551 = t84 - t86;
<a name="l00359"></a>00359 <span class="keyword">const</span> <span class="keywordtype">double</span> t552 = t551 * v1x0;
<a name="l00360"></a>00360 <span class="keyword">const</span> <span class="keywordtype">double</span> t555 = t450 + t452;
<a name="l00361"></a>00361 <span class="keyword">const</span> <span class="keywordtype">double</span> t556 = t555 * v1x0;
<a name="l00362"></a>00362 <span class="keyword">const</span> <span class="keywordtype">double</span> t559 = -t49 - t440;
<a name="l00363"></a>00363 <span class="keyword">const</span> <span class="keywordtype">double</span> t560 = t47 * t559;
<a name="l00364"></a>00364 <span class="keyword">const</span> <span class="keywordtype">double</span> t563 = -0.2e1 * t560 * v1x0 - t446;
<a name="l00365"></a>00365 <span class="keyword">const</span> <span class="keywordtype">double</span> t566 = t551 * v1x1;
<a name="l00366"></a>00366 <span class="keyword">const</span> <span class="keywordtype">double</span> t569 = t555 * v1x1;
<a name="l00367"></a>00367 <span class="keyword">const</span> <span class="keywordtype">double</span> t574 = -0.2e1 * t560 * v1x1 - t99;
<a name="l00368"></a>00368 <span class="keyword">const</span> <span class="keywordtype">double</span> t577 = t551 * v1x2;
<a name="l00369"></a>00369 <span class="keyword">const</span> <span class="keywordtype">double</span> t580 = t555 * v1x2;
<a name="l00370"></a>00370 <span class="keyword">const</span> <span class="keywordtype">double</span> t583 = t559 * v1x2;
<a name="l00371"></a>00371 <span class="keyword">const</span> <span class="keywordtype">double</span> t587 = t551 * v1x3;
<a name="l00372"></a>00372 <span class="keyword">const</span> <span class="keywordtype">double</span> t590 = t555 * v1x3;
<a name="l00373"></a>00373 <span class="keyword">const</span> <span class="keywordtype">double</span> t593 = t559 * v1x3;
<a name="l00374"></a>00374 <span class="keyword">const</span> <span class="keywordtype">double</span> t600 = 0.1e1 + t75 * t559;
<a name="l00375"></a>00375 <span class="keyword">const</span> <span class="keywordtype">double</span> t643 = 0.20e1 * t1;
<a name="l00376"></a>00376 <span class="keyword">const</span> <span class="keywordtype">double</span> t644 = -t56 - t643;
<a name="l00377"></a>00377 <span class="keyword">const</span> <span class="keywordtype">double</span> t646 = 0.1e1 + t6 * t644;
<a name="l00378"></a>00378 <span class="keyword">const</span> <span class="keywordtype">double</span> t647 = t646 * t27;
<a name="l00379"></a>00379 <span class="keyword">const</span> <span class="keywordtype">double</span> t650 = 0.20e1 * v2x1 * v2x2;
<a name="l00380"></a>00380 <span class="keyword">const</span> <span class="keywordtype">double</span> t652 = 0.20e1 * v2x0 * v2x3;
<a name="l00381"></a>00381 <span class="keyword">const</span> <span class="keywordtype">double</span> t653 = t650 - t652;
<a name="l00382"></a>00382 <span class="keyword">const</span> <span class="keywordtype">double</span> t654 = t6 * t653;
<a name="l00383"></a>00383 <span class="keyword">const</span> <span class="keywordtype">double</span> t656 = t647 *  t28 - t654 * t38;
<a name="l00384"></a>00384 <span class="keyword">const</span> <span class="keywordtype">double</span> t657 = t656 * t47;
<a name="l00385"></a>00385 <span class="keyword">const</span> <span class="keywordtype">double</span> t660 = t8 + t10;
<a name="l00386"></a>00386 <span class="keyword">const</span> <span class="keywordtype">double</span> t661 = t6 * t660;
<a name="l00387"></a>00387 <span class="keyword">const</span> <span class="keywordtype">double</span> t664 = -t661 * t29 + t654 * t63;
<a name="l00388"></a>00388 <span class="keyword">const</span> <span class="keywordtype">double</span> t665 = t664 * t47;
<a name="l00389"></a>00389 <span class="keyword">const</span> <span class="keywordtype">double</span> t668 = t664 * t75;
<a name="l00390"></a>00390 <span class="keyword">const</span> <span class="keywordtype">double</span> t670 = 0.20e1 * t668 * v1x1;
<a name="l00391"></a>00391 <span class="keyword">const</span> <span class="keywordtype">double</span> t673 = t661 * t38 - t647 *  t62;
<a name="l00392"></a>00392 <span class="keyword">const</span> <span class="keywordtype">double</span> t674 = t673 * t47;
<a name="l00393"></a>00393 <span class="keyword">const</span> <span class="keywordtype">double</span> t677 = t673 * t75;
<a name="l00394"></a>00394 <span class="keyword">const</span> <span class="keywordtype">double</span> t679 = 0.20e1 * t677 * v1x2;
<a name="l00395"></a>00395 <span class="keyword">const</span> <span class="keywordtype">double</span> t685 = 0.20e1 * t668 * v1x0;
<a name="l00396"></a>00396 <span class="keyword">const</span> <span class="keywordtype">double</span> t689 = 0.20e1 * t677 * v1x3;
<a name="l00397"></a>00397 <span class="keyword">const</span> <span class="keywordtype">double</span> t695 = 0.20e1 * t668 * v1x3;
<a name="l00398"></a>00398 <span class="keyword">const</span> <span class="keywordtype">double</span> t699 = 0.20e1 * t677 * v1x0;
<a name="l00399"></a>00399 <span class="keyword">const</span> <span class="keywordtype">double</span> t706 = 0.20e1 * t668 * v1x2;
<a name="l00400"></a>00400 <span class="keyword">const</span> <span class="keywordtype">double</span> t710 = 0.20e1 * t677 * v1x1;
<a name="l00401"></a>00401 <span class="keyword">const</span> <span class="keywordtype">double</span> t712 = t646 * t145;
<a name="l00402"></a>00402 <span class="keyword">const</span> <span class="keywordtype">double</span> t713 = t712 *  t157;
<a name="l00403"></a>00403 <span class="keyword">const</span> <span class="keywordtype">double</span> t715 = -t713 + t654 * t150;
<a name="l00404"></a>00404 <span class="keyword">const</span> <span class="keywordtype">double</span> t721 = t654 * t27;
<a name="l00405"></a>00405 <span class="keyword">const</span> <span class="keywordtype">double</span> t722 = t661 * t147 / 0.2e1 - t654 * t161 / 0.2e1 - t721;
<a name="l00406"></a>00406 <span class="keyword">const</span> <span class="keywordtype">double</span> t723 = t722 * t75;
<a name="l00407"></a>00407 <span class="keyword">const</span> <span class="keywordtype">double</span> t727 = -2 * t62 * t62;
<a name="l00408"></a>00408 <span class="keyword">const</span> <span class="keywordtype">double</span> t730 = -t661 * t150 / 0.2e1 + t712 *  t727 / 0.2e1 + t647;
<a name="l00409"></a>00409 <span class="keyword">const</span> <span class="keywordtype">double</span> t731 = t730 * t75;
<a name="l00410"></a>00410 <span class="keyword">const</span> <span class="keywordtype">double</span> t738 = -t712 *  t186 / 0.2e1 + t654 * t181 / 0.2e1 + t721;
<a name="l00411"></a>00411 <span class="keyword">const</span> <span class="keywordtype">double</span> t742 = t661 * t178 - t654 * t188;
<a name="l00412"></a>00412 <span class="keyword">const</span> <span class="keywordtype">double</span> t743 = t742 * t75 / 0.2e1;
<a name="l00413"></a>00413 <span class="keyword">const</span> <span class="keywordtype">double</span> t747 = t661 * t27;
<a name="l00414"></a>00414 <span class="keyword">const</span> <span class="keywordtype">double</span> t750 = -t661 * t181 / 0.2e1 - t747 + t712 *  t168 / 0.2e1;
<a name="l00415"></a>00415 <span class="keyword">const</span> <span class="keywordtype">double</span> t751 = t750 * t75;
<a name="l00416"></a>00416 <span class="keyword">const</span> <span class="keywordtype">double</span> t758 = -t712 *  t210 / 0.2e1 - t647 + t654 * t205 / 0.2e1;
<a name="l00417"></a>00417 <span class="keyword">const</span> <span class="keywordtype">double</span> t764 = t661 * t202 / 0.2e1 + t747 - t654 * t213 / 0.2e1;
<a name="l00418"></a>00418 <span class="keyword">const</span> <span class="keywordtype">double</span> t765 = t764 * t75;
<a name="l00419"></a>00419 <span class="keyword">const</span> <span class="keywordtype">double</span> t768 = -t661 * t205 + t713;
<a name="l00420"></a>00420 <span class="keyword">const</span> <span class="keywordtype">double</span> t769 = t768 * t75 / 0.2e1;
<a name="l00421"></a>00421 <span class="keyword">const</span> <span class="keywordtype">double</span> t772 = t225 * t644;
<a name="l00422"></a>00422 <span class="keyword">const</span> <span class="keywordtype">double</span> t775 = 0.40e1 * t266;
<a name="l00423"></a>00423 <span class="keyword">const</span> <span class="keywordtype">double</span> t777 = (-0.2e1 * t772 * v2x0 - t775) * t27;
<a name="l00424"></a>00424 <span class="keyword">const</span> <span class="keywordtype">double</span> t779 = t225 * t653;
<a name="l00425"></a>00425 <span class="keyword">const</span> <span class="keywordtype">double</span> t782 = t777 *  t28 + 0.2e1 * t779 * t234 + t274;
<a name="l00426"></a>00426 <span class="keyword">const</span> <span class="keywordtype">double</span> t784 = t225 * t660;
<a name="l00427"></a>00427 <span class="keyword">const</span> <span class="keywordtype">double</span> t789 = 0.2e1 * t784 * t227 - t232 - 0.2e1 * t779 * t245 - t287;
<a name="l00428"></a>00428 <span class="keyword">const</span> <span class="keywordtype">double</span> t790 = t789 * t75;
<a name="l00429"></a>00429 <span class="keyword">const</span> <span class="keywordtype">double</span> t795 = -0.2e1 * t784 * t234 + t340 - t777 *  t62;
<a name="l00430"></a>00430 <span class="keyword">const</span> <span class="keywordtype">double</span> t796 = t795 * t75;
<a name="l00431"></a>00431 <span class="keyword">const</span> <span class="keywordtype">double</span> t803 = -0.2e1 * t772 * t263 + 0.2e1 * t779 * t269 - t239;
<a name="l00432"></a>00432 <span class="keyword">const</span> <span class="keywordtype">double</span> t809 = 0.2e1 * t784 * t263 - t268 - 0.2e1 * t779 * t283 + t249;
<a name="l00433"></a>00433 <span class="keyword">const</span> <span class="keywordtype">double</span> t810 = t809 * t75;
<a name="l00434"></a>00434 <span class="keyword">const</span> <span class="keywordtype">double</span> t816 = -0.2e1 * t784 * t269 + t309 + 0.2e1 * t772 * t283;
<a name="l00435"></a>00435 <span class="keyword">const</span> <span class="keywordtype">double</span> t817 = t816 * t75;
<a name="l00436"></a>00436 <span class="keyword">const</span> <span class="keywordtype">double</span> t823 = (-0.2e1 * t772 * v2x2 - t314) * t27;
<a name="l00437"></a>00437 <span class="keyword">const</span> <span class="keywordtype">double</span> t827 = t823 *  t28 + 0.2e1 * t779 * t305 - t340;
<a name="l00438"></a>00438 <span class="keyword">const</span> <span class="keywordtype">double</span> t833 = 0.2e1 * t784 * t300 - t304 - 0.2e1 * t779 * t318 + t258;
<a name="l00439"></a>00439 <span class="keyword">const</span> <span class="keywordtype">double</span> t834 = t833 * t75;
<a name="l00440"></a>00440 <span class="keyword">const</span> <span class="keywordtype">double</span> t839 = -0.2e1 * t784 * t305 + t274 - t823 *  t62;
<a name="l00441"></a>00441 <span class="keyword">const</span> <span class="keywordtype">double</span> t840 = t839 * t75;
<a name="l00442"></a>00442 <span class="keyword">const</span> <span class="keywordtype">double</span> t847 = -0.2e1 * t772 * t331 + 0.2e1 * t779 * t336 + t309;
<a name="l00443"></a>00443 <span class="keyword">const</span> <span class="keywordtype">double</span> t853 = 0.2e1 * t784 * t331 - t335 - 0.2e1 * t779 * t345 - t295;
<a name="l00444"></a>00444 <span class="keyword">const</span> <span class="keywordtype">double</span> t854 = t853 * t75;
<a name="l00445"></a>00445 <span class="keyword">const</span> <span class="keywordtype">double</span> t860 = -0.2e1 * t784 * t336 + t239 + 0.2e1 * t772 * t345;
<a name="l00446"></a>00446 <span class="keyword">const</span> <span class="keywordtype">double</span> t861 = t860 * t75;
<a name="l00447"></a>00447 <span class="keyword">const</span> <span class="keywordtype">double</span> t864 = t712 *  t365;
<a name="l00448"></a>00448 <span class="keyword">const</span> <span class="keywordtype">double</span> t866 = -t864 + t654 * t361;
<a name="l00449"></a>00449 <span class="keyword">const</span> <span class="keywordtype">double</span> t872 = t661 * t359 / 0.2e1 - t654 * t368 / 0.2e1 + t721;
<a name="l00450"></a>00450 <span class="keyword">const</span> <span class="keywordtype">double</span> t873 = t872 * t75;
<a name="l00451"></a>00451 <span class="keyword">const</span> <span class="keywordtype">double</span> t877 = 2 * t62 * t62;
<a name="l00452"></a>00452 <span class="keyword">const</span> <span class="keywordtype">double</span> t880 = -t661 * t361 / 0.2e1 + t712 *  t877 / 0.2e1 - t647;
<a name="l00453"></a>00453 <span class="keyword">const</span> <span class="keywordtype">double</span> t881 = t880 * t75;
<a name="l00454"></a>00454 <span class="keyword">const</span> <span class="keywordtype">double</span> t888 = -t712 *  t391 / 0.2e1 + t654 * t386 / 0.2e1 - t721;
<a name="l00455"></a>00455 <span class="keyword">const</span> <span class="keywordtype">double</span> t892 = t661 * t383 - t654 * t393;
<a name="l00456"></a>00456 <span class="keyword">const</span> <span class="keywordtype">double</span> t893 = t892 * t75 / 0.2e1;
<a name="l00457"></a>00457 <span class="keyword">const</span> <span class="keywordtype">double</span> t899 = -t661 * t386 / 0.2e1 + t747 + t712 *  t374 / 0.2e1;
<a name="l00458"></a>00458 <span class="keyword">const</span> <span class="keywordtype">double</span> t900 = t899 * t75;
<a name="l00459"></a>00459 <span class="keyword">const</span> <span class="keywordtype">double</span> t907 = -t712 *  t415 / 0.2e1 + t647 + t654 * t410 / 0.2e1;
<a name="l00460"></a>00460 <span class="keyword">const</span> <span class="keywordtype">double</span> t913 = t661 * t407 / 0.2e1 - t747 - t654 * t418 / 0.2e1;
<a name="l00461"></a>00461 <span class="keyword">const</span> <span class="keywordtype">double</span> t914 = t913 * t75;
<a name="l00462"></a>00462 <span class="keyword">const</span> <span class="keywordtype">double</span> t917 = -t661 * t410 + t864;
<a name="l00463"></a>00463 <span class="keyword">const</span> <span class="keywordtype">double</span> t918 = t917 * t75 / 0.2e1;
<a name="l00464"></a>00464 <span class="keyword">const</span> <span class="keywordtype">double</span> t927 = t656 * t75;
<a name="l00465"></a>00465 <span class="keyword">const</span> <span class="keywordtype">double</span> t929 = 0.20e1 * t927 * v1x1;
<a name="l00466"></a>00466 <span class="keyword">const</span> <span class="keywordtype">double</span> t937 = 0.20e1 * t927 * v1x0;
<a name="l00467"></a>00467 <span class="keyword">const</span> <span class="keywordtype">double</span> t946 = 0.20e1 * t927 * v1x3;
<a name="l00468"></a>00468 <span class="keyword">const</span> <span class="keywordtype">double</span> t954 = 0.20e1 * t927 * v1x2;
<a name="l00469"></a>00469 <span class="keyword">const</span> <span class="keywordtype">double</span> t960 = t715 * t75 / 0.2e1;
<a name="l00470"></a>00470 <span class="keyword">const</span> <span class="keywordtype">double</span> t965 = t738 * t75;
<a name="l00471"></a>00471 <span class="keyword">const</span> <span class="keywordtype">double</span> t970 = t758 * t75;
<a name="l00472"></a>00472 <span class="keyword">const</span> <span class="keywordtype">double</span> t975 = t782 * t75;
<a name="l00473"></a>00473 <span class="keyword">const</span> <span class="keywordtype">double</span> t980 = t803 * t75;
<a name="l00474"></a>00474 <span class="keyword">const</span> <span class="keywordtype">double</span> t985 = t827 * t75;
<a name="l00475"></a>00475 <span class="keyword">const</span> <span class="keywordtype">double</span> t990 = t847 * t75;
<a name="l00476"></a>00476 <span class="keyword">const</span> <span class="keywordtype">double</span> t995 = t866 * t75 / 0.2e1;
<a name="l00477"></a>00477 <span class="keyword">const</span> <span class="keywordtype">double</span> t1000 = t888 * t75;
<a name="l00478"></a>00478 <span class="keyword">const</span> <span class="keywordtype">double</span> t1005 = t907 * t75;
<a name="l00479"></a>00479 <span class="keyword">const</span> <span class="keywordtype">double</span> t1084 = t650 + t652;
<a name="l00480"></a>00480 <span class="keyword">const</span> <span class="keywordtype">double</span> t1085 = t6 * t1084;
<a name="l00481"></a>00481 <span class="keyword">const</span> <span class="keywordtype">double</span> t1087 = -t55 - t643;
<a name="l00482"></a>00482 <span class="keyword">const</span> <span class="keywordtype">double</span> t1089 = 0.1e1 + t6 * t1087;
<a name="l00483"></a>00483 <span class="keyword">const</span> <span class="keywordtype">double</span> t1090 = t1089 * t27;
<a name="l00484"></a>00484 <span class="keyword">const</span> <span class="keywordtype">double</span> t1092 = t1085 * t29 - t1090 *  t37;
<a name="l00485"></a>00485 <span class="keyword">const</span> <span class="keywordtype">double</span> t1093 = t1092 * t47;
<a name="l00486"></a>00486 <span class="keyword">const</span> <span class="keywordtype">double</span> t1096 = t32 - t34;
<a name="l00487"></a>00487 <span class="keyword">const</span> <span class="keywordtype">double</span> t1097 = t6 * t1096;
<a name="l00488"></a>00488 <span class="keyword">const</span> <span class="keywordtype">double</span> t1100 = -t1097 * t29 + t1090 *  t62;
<a name="l00489"></a>00489 <span class="keyword">const</span> <span class="keywordtype">double</span> t1101 = t1100 * t47;
<a name="l00490"></a>00490 <span class="keyword">const</span> <span class="keywordtype">double</span> t1104 = t1100 * t75;
<a name="l00491"></a>00491 <span class="keyword">const</span> <span class="keywordtype">double</span> t1106 = 0.20e1 * t1104 * v1x1;
<a name="l00492"></a>00492 <span class="keyword">const</span> <span class="keywordtype">double</span> t1109 = t1097 * t38 - t1085 * t63;
<a name="l00493"></a>00493 <span class="keyword">const</span> <span class="keywordtype">double</span> t1110 = t1109 * t47;
<a name="l00494"></a>00494 <span class="keyword">const</span> <span class="keywordtype">double</span> t1113 = t1109 * t75;
<a name="l00495"></a>00495 <span class="keyword">const</span> <span class="keywordtype">double</span> t1115 = 0.20e1 * t1113 * v1x2;
<a name="l00496"></a>00496 <span class="keyword">const</span> <span class="keywordtype">double</span> t1121 = 0.20e1 * t1104 * v1x0;
<a name="l00497"></a>00497 <span class="keyword">const</span> <span class="keywordtype">double</span> t1125 = 0.20e1 * t1113 * v1x3;
<a name="l00498"></a>00498 <span class="keyword">const</span> <span class="keywordtype">double</span> t1131 = 0.20e1 * t1104 * v1x3;
<a name="l00499"></a>00499 <span class="keyword">const</span> <span class="keywordtype">double</span> t1135 = 0.20e1 * t1113 * v1x0;
<a name="l00500"></a>00500 <span class="keyword">const</span> <span class="keywordtype">double</span> t1142 = 0.20e1 * t1104 * v1x2;
<a name="l00501"></a>00501 <span class="keyword">const</span> <span class="keywordtype">double</span> t1146 = 0.20e1 * t1113 * v1x1;
<a name="l00502"></a>00502 <span class="keyword">const</span> <span class="keywordtype">double</span> t1149 = t1089 * t145;
<a name="l00503"></a>00503 <span class="keyword">const</span> <span class="keywordtype">double</span> t1150 = t1149 *  t168;
<a name="l00504"></a>00504 <span class="keyword">const</span> <span class="keywordtype">double</span> t1151 = -t1085 * t147 + t1150;
<a name="l00505"></a>00505 <span class="keyword">const</span> <span class="keywordtype">double</span> t1157 = t1097 * t147 / 0.2e1 - t1149 *  t727 / 0.2e1 - t1090;
<a name="l00506"></a>00506 <span class="keyword">const</span> <span class="keywordtype">double</span> t1158 = t1157 * t75;
<a name="l00507"></a>00507 <span class="keyword">const</span> <span class="keywordtype">double</span> t1164 = t1085 * t27;
<a name="l00508"></a>00508 <span class="keyword">const</span> <span class="keywordtype">double</span> t1165 = -t1097 * t150 / 0.2e1 + t1085 * t161 / 0.2e1 + t1164;
<a name="l00509"></a>00509 <span class="keyword">const</span> <span class="keywordtype">double</span> t1166 = t1165 * t75;
<a name="l00510"></a>00510 <span class="keyword">const</span> <span class="keywordtype">double</span> t1173 = -t1085 * t178 / 0.2e1 + t1149 *  t193 / 0.2e1 + t1090;
<a name="l00511"></a>00511 <span class="keyword">const</span> <span class="keywordtype">double</span> t1176 = t1097 * t178 - t1150;
<a name="l00512"></a>00512 <span class="keyword">const</span> <span class="keywordtype">double</span> t1177 = t1176 * t75 / 0.2e1;
<a name="l00513"></a>00513 <span class="keyword">const</span> <span class="keywordtype">double</span> t1181 = t1097 * t27;
<a name="l00514"></a>00514 <span class="keyword">const</span> <span class="keywordtype">double</span> t1184 = -t1097 * t181 / 0.2e1 - t1181 + t1085 * t188 / 0.2e1;
<a name="l00515"></a>00515 <span class="keyword">const</span> <span class="keywordtype">double</span> t1185 = t1184 * t75;
<a name="l00516"></a>00516 <span class="keyword">const</span> <span class="keywordtype">double</span> t1192 = -t1085 * t202 / 0.2e1 - t1164 + t1149 *  t186 / 0.2e1;
<a name="l00517"></a>00517 <span class="keyword">const</span> <span class="keywordtype">double</span> t1198 = t1097 * t202 / 0.2e1 + t1181 - t1149 *  t157 / 0.2e1;
<a name="l00518"></a>00518 <span class="keyword">const</span> <span class="keywordtype">double</span> t1199 = t1198 * t75;
<a name="l00519"></a>00519 <span class="keyword">const</span> <span class="keywordtype">double</span> t1203 = -t1097 * t205 + t1085 * t213;
<a name="l00520"></a>00520 <span class="keyword">const</span> <span class="keywordtype">double</span> t1204 = t1203 * t75 / 0.2e1;
<a name="l00521"></a>00521 <span class="keyword">const</span> <span class="keywordtype">double</span> t1207 = t225 * t1084;
<a name="l00522"></a>00522 <span class="keyword">const</span> <span class="keywordtype">double</span> t1210 = t225 * t1087;
<a name="l00523"></a>00523 <span class="keyword">const</span> <span class="keywordtype">double</span> t1214 = (-0.2e1 * t1210 * v2x0 - t775) * t27;
<a name="l00524"></a>00524 <span class="keyword">const</span> <span class="keywordtype">double</span> t1216 = -0.2e1 * t1207 * t227 + t304 - t1214 *  t37;
<a name="l00525"></a>00525 <span class="keyword">const</span> <span class="keywordtype">double</span> t1218 = t225 * t1096;
<a name="l00526"></a>00526 <span class="keyword">const</span> <span class="keywordtype">double</span> t1222 = 0.2e1 * t1218 * t227 - t335 + t1214 *  t62;
<a name="l00527"></a>00527 <span class="keyword">const</span> <span class="keywordtype">double</span> t1223 = t1222 * t75;
<a name="l00528"></a>00528 <span class="keyword">const</span> <span class="keywordtype">double</span> t1229 = -0.2e1 * t1218 * t234 + t239 + 0.2e1 * t1207 * t245 - t287;
<a name="l00529"></a>00529 <span class="keyword">const</span> <span class="keywordtype">double</span> t1230 = t1229 * t75;
<a name="l00530"></a>00530 <span class="keyword">const</span> <span class="keywordtype">double</span> t1238 = (-0.2e1 * t1210 * v2x1 - t279) * t27;
<a name="l00531"></a>00531 <span class="keyword">const</span> <span class="keywordtype">double</span> t1240 = -0.2e1 * t1207 * t263 + t335 - t1238 *  t37;
<a name="l00532"></a>00532 <span class="keyword">const</span> <span class="keywordtype">double</span> t1245 = 0.2e1 * t1218 * t263 + t304 + t1238 *  t62;
<a name="l00533"></a>00533 <span class="keyword">const</span> <span class="keywordtype">double</span> t1246 = t1245 * t75;
<a name="l00534"></a>00534 <span class="keyword">const</span> <span class="keywordtype">double</span> t1252 = -0.2e1 * t1218 * t269 - t274 + 0.2e1 * t1207 * t283 - t249;
<a name="l00535"></a>00535 <span class="keyword">const</span> <span class="keywordtype">double</span> t1253 = t1252 * t75;
<a name="l00536"></a>00536 <span class="keyword">const</span> <span class="keywordtype">double</span> t1260 = -0.2e1 * t1207 * t300 + t232 + 0.2e1 * t1210 * t305;
<a name="l00537"></a>00537 <span class="keyword">const</span> <span class="keywordtype">double</span> t1266 = 0.2e1 * t1218 * t300 - t268 - 0.2e1 * t1210 * t318;
<a name="l00538"></a>00538 <span class="keyword">const</span> <span class="keywordtype">double</span> t1267 = t1266 * t75;
<a name="l00539"></a>00539 <span class="keyword">const</span> <span class="keywordtype">double</span> t1273 = -0.2e1 * t1218 * t305 + t309 + 0.2e1 * t1207 * t318 - t258;
<a name="l00540"></a>00540 <span class="keyword">const</span> <span class="keywordtype">double</span> t1274 = t1273 * t75;
<a name="l00541"></a>00541 <span class="keyword">const</span> <span class="keywordtype">double</span> t1281 = -0.2e1 * t1207 * t331 + t268 + 0.2e1 * t1210 * t336;
<a name="l00542"></a>00542 <span class="keyword">const</span> <span class="keywordtype">double</span> t1287 = 0.2e1 * t1218 * t331 + t232 - 0.2e1 * t1210 * t345;
<a name="l00543"></a>00543 <span class="keyword">const</span> <span class="keywordtype">double</span> t1288 = t1287 * t75;
<a name="l00544"></a>00544 <span class="keyword">const</span> <span class="keywordtype">double</span> t1294 = -0.2e1 * t1218 * t336 - t340 + 0.2e1 * t1207 * t345 - t295;
<a name="l00545"></a>00545 <span class="keyword">const</span> <span class="keywordtype">double</span> t1295 = t1294 * t75;
<a name="l00546"></a>00546 <span class="keyword">const</span> <span class="keywordtype">double</span> t1299 = t1149 *  t374;
<a name="l00547"></a>00547 <span class="keyword">const</span> <span class="keywordtype">double</span> t1300 = -t1085 * t359 + t1299;
<a name="l00548"></a>00548 <span class="keyword">const</span> <span class="keywordtype">double</span> t1306 = t1097 * t359 / 0.2e1 - t1149 *  t877 / 0.2e1 + t1090;
<a name="l00549"></a>00549 <span class="keyword">const</span> <span class="keywordtype">double</span> t1307 = t1306 * t75;
<a name="l00550"></a>00550 <span class="keyword">const</span> <span class="keywordtype">double</span> t1313 = -t1097 * t361 / 0.2e1 + t1085 * t368 / 0.2e1 - t1164;
<a name="l00551"></a>00551 <span class="keyword">const</span> <span class="keywordtype">double</span> t1314 = t1313 * t75;
<a name="l00552"></a>00552 <span class="keyword">const</span> <span class="keywordtype">double</span> t1321 = -t1085 * t383 / 0.2e1 + t1149 *  t398 / 0.2e1 - t1090;
<a name="l00553"></a>00553 <span class="keyword">const</span> <span class="keywordtype">double</span> t1324 = t1097 * t383 - t1299;
<a name="l00554"></a>00554 <span class="keyword">const</span> <span class="keywordtype">double</span> t1325 = t1324 * t75 / 0.2e1;
<a name="l00555"></a>00555 <span class="keyword">const</span> <span class="keywordtype">double</span> t1331 = -t1097 * t386 / 0.2e1 + t1181 + t1085 * t393 / 0.2e1;
<a name="l00556"></a>00556 <span class="keyword">const</span> <span class="keywordtype">double</span> t1332 = t1331 * t75;
<a name="l00557"></a>00557 <span class="keyword">const</span> <span class="keywordtype">double</span> t1339 = -t1085 * t407 / 0.2e1 + t1164 + t1149 *  t391 / 0.2e1;
<a name="l00558"></a>00558 <span class="keyword">const</span> <span class="keywordtype">double</span> t1345 = t1097 * t407 / 0.2e1 - t1181 - t1149 *  t365 / 0.2e1;
<a name="l00559"></a>00559 <span class="keyword">const</span> <span class="keywordtype">double</span> t1346 = t1345 * t75;
<a name="l00560"></a>00560 <span class="keyword">const</span> <span class="keywordtype">double</span> t1350 = -t1097 * t410 + t1085 * t418;
<a name="l00561"></a>00561 <span class="keyword">const</span> <span class="keywordtype">double</span> t1351 = t1350 * t75 / 0.2e1;
<a name="l00562"></a>00562 <span class="keyword">const</span> <span class="keywordtype">double</span> t1360 = t1092 * t75;
<a name="l00563"></a>00563 <span class="keyword">const</span> <span class="keywordtype">double</span> t1362 = 0.20e1 * t1360 * v1x1;
<a name="l00564"></a>00564 <span class="keyword">const</span> <span class="keywordtype">double</span> t1370 = 0.20e1 * t1360 * v1x0;
<a name="l00565"></a>00565 <span class="keyword">const</span> <span class="keywordtype">double</span> t1379 = 0.20e1 * t1360 * v1x3;
<a name="l00566"></a>00566 <span class="keyword">const</span> <span class="keywordtype">double</span> t1387 = 0.20e1 * t1360 * v1x2;
<a name="l00567"></a>00567 <span class="keyword">const</span> <span class="keywordtype">double</span> t1393 = t1151 * t75 / 0.2e1;
<a name="l00568"></a>00568 <span class="keyword">const</span> <span class="keywordtype">double</span> t1398 = t1173 * t75;
<a name="l00569"></a>00569 <span class="keyword">const</span> <span class="keywordtype">double</span> t1403 = t1192 * t75;
<a name="l00570"></a>00570 <span class="keyword">const</span> <span class="keywordtype">double</span> t1408 = t1216 * t75;
<a name="l00571"></a>00571 <span class="keyword">const</span> <span class="keywordtype">double</span> t1413 = t1240 * t75;
<a name="l00572"></a>00572 <span class="keyword">const</span> <span class="keywordtype">double</span> t1418 = t1260 * t75;
<a name="l00573"></a>00573 <span class="keyword">const</span> <span class="keywordtype">double</span> t1423 = t1281 * t75;
<a name="l00574"></a>00574 <span class="keyword">const</span> <span class="keywordtype">double</span> t1428 = t1300 * t75 / 0.2e1;
<a name="l00575"></a>00575 <span class="keyword">const</span> <span class="keywordtype">double</span> t1433 = t1321 * t75;
<a name="l00576"></a>00576 <span class="keyword">const</span> <span class="keywordtype">double</span> t1438 = t1339 * t75;
<a name="l00577"></a>00577 cg[15*0+0] = -0.2e1 * t48 * t52 - 0.2e1 * t66 * t72 + t78 - 0.2e1 * t82 * t88 + t93;
<a name="l00578"></a>00578 cg[15*0+1] = t40 * t100 - 0.2e1 * t66 * t102 + t106 - 0.2e1 * t82 * t107 + t111;
<a name="l00579"></a>00579 cg[15*0+2] = t40 * t117 - 0.2e1 * t66 * t119 - t123 - 0.2e1 * t82 * t124 + t128;
<a name="l00580"></a>00580 cg[15*0+3] = -0.2e1 * t48 * t130 - 0.2e1 * t66 * t133 - t137 - 0.2e1 * t82 * t138 + t142;
<a name="l00581"></a>00581 cg[15*0+4] = t152 * t154 / 0.2e1 + t166 * t71 + t175 * t87;
<a name="l00582"></a>00582 cg[15*0+5] = t184 * t154 + t191 * t71 + t199 * t87;
<a name="l00583"></a>00583 cg[15*0+6] = t208 * t154 + t217 * t71 + t221 * t87;
<a name="l00584"></a>00584 cg[15*0+7] = t240 * t154 + t251 * t71 + t260 * t87;
<a name="l00585"></a>00585 cg[15*0+8] = t275 * t154 + t289 * t71 + t297 * t87;
<a name="l00586"></a>00586 cg[15*0+9] = t310 * t154 + t322 * t71 + t328 * t87;
<a name="l00587"></a>00587 cg[15*0+10] = t341 * t154 + t349 * t71 + t356 * t87;
<a name="l00588"></a>00588 cg[15*0+11] = t363 * t154 / 0.2e1 + t372 * t71 + t380 * t87;
<a name="l00589"></a>00589 cg[15*0+12] = t389 * t154 + t396 * t71 + t404 * t87;
<a name="l00590"></a>00590 cg[15*0+13] = t413 * t154 + t422 * t71 + t426 * t87;
<a name="l00591"></a>00591 cg[15*0+14] = t40 * t154 + t76 * t71 + t91 * t87;
<a name="l00592"></a>00592 cg[15*1+0] = -0.2e1 * t48 * t434 + t439 + t65 * t447 - 0.2e1 * t82 * t454 - t111;
<a name="l00593"></a>00593 cg[15*1+1] = -0.2e1 * t48 * t458 + t462 - 0.2e1 * t66 * t463 - 0.2e1 * t82 * t466 + t93;
<a name="l00594"></a>00594 cg[15*1+2] = -0.2e1 * t48 * t470 + t474 + t65 * t477 - 0.2e1 * t82 * t479 + t142;
<a name="l00595"></a>00595 cg[15*1+3] = -0.2e1 * t48 * t483 + t487 - 0.2e1 * t66 * t488 - 0.2e1 * t82 * t491 - t128;
<a name="l00596"></a>00596 cg[15*1+4] = t495 * t433 + t165 * t498 + t175 * t453;
<a name="l00597"></a>00597 cg[15*1+5] = t502 * t433 + t190 * t498 / 0.2e1 + t199 * t453;
<a name="l00598"></a>00598 cg[15*1+6] = t507 * t433 + t216 * t498 + t221 * t453;
<a name="l00599"></a>00599 cg[15*1+7] = t512 * t433 + t250 * t498 + t260 * t453;
<a name="l00600"></a>00600 cg[15*1+8] = t517 * t433 + t288 * t498 + t297 * t453;
<a name="l00601"></a>00601 cg[15*1+9] = t522 * t433 + t321 * t498 + t328 * t453;
<a name="l00602"></a>00602 cg[15*1+10] = t527 * t433 + t348 * t498 + t356 * t453;
<a name="l00603"></a>00603 cg[15*1+11] = t532 * t433 + t371 * t498 + t380 * t453;
<a name="l00604"></a>00604 cg[15*1+12] = t537 * t433 + t395 * t498 / 0.2e1 + t404 * t453;
<a name="l00605"></a>00605 cg[15*1+13] = t542 * t433 + t421 * t498 + t426 * t453;
<a name="l00606"></a>00606 cg[15*1+14] = t437 * t433 + t65 * t498 + t91 * t453;
<a name="l00607"></a>00607 cg[15*2+0] = -0.2e1 * t48 * t552 + t487 - 0.2e1 * t66 * t556 + t123 + t81 * t563;
<a name="l00608"></a>00608 cg[15*2+1] = -0.2e1 * t48 * t566 - t474 - 0.2e1 * t66 * t569 + t137 + t81 * t574;
<a name="l00609"></a>00609 cg[15*2+2] = -0.2e1 * t48 * t577 + t462 - 0.2e1 * t66 * t580 + t78 - 0.2e1 * t82 * t583;
<a name="l00610"></a>00610 cg[15*2+3] = -0.2e1 * t48 * t587 - t439 - 0.2e1 * t66 * t590 + t106 - 0.2e1 * t82 * t593;
<a name="l00611"></a>00611 cg[15*2+4] = t495 * t551 + t166 * t555 + t174 * t600;
<a name="l00612"></a>00612 cg[15*2+5] = t502 * t551 + t191 * t555 + t198 * t600;
<a name="l00613"></a>00613 cg[15*2+6] = t507 * t551 + t217 * t555 + t220 * t600 / 0.2e1;
<a name="l00614"></a>00614 cg[15*2+7] = t512 * t551 + t251 * t555 + t259 * t600;
<a name="l00615"></a>00615 cg[15*2+8] = t517 * t551 + t289 * t555 + t296 * t600;
<a name="l00616"></a>00616 cg[15*2+9] = t522 * t551 + t322 * t555 + t327 * t600;
<a name="l00617"></a>00617 cg[15*2+10] = t527 * t551 + t349 * t555 + t355 * t600;
<a name="l00618"></a>00618 cg[15*2+11] = t532 * t551 + t372 * t555 + t379 * t600;
<a name="l00619"></a>00619 cg[15*2+12] = t537 * t551 + t396 * t555 + t403 * t600;
<a name="l00620"></a>00620 cg[15*2+13] = t542 * t551 + t422 * t555 + t425 * t600 / 0.2e1;
<a name="l00621"></a>00621 cg[15*2+14] = t437 * t551 + t76 * t555 + t81 * t600;
<a name="l00622"></a>00622 cg[15*3+0] = -0.2e1 * t657 * t52 - 0.2e1 * t665 * t72 + t670 - 0.2e1 * t674 * t88 + t679;
<a name="l00623"></a>00623 cg[15*3+1] = t656 * t100 - 0.2e1 * t665 * t102 + t685 - 0.2e1 * t674 * t107 + t689;
<a name="l00624"></a>00624 cg[15*3+2] = t656 * t117 - 0.2e1 * t665 * t119 - t695 - 0.2e1 * t674 * t124 + t699;
<a name="l00625"></a>00625 cg[15*3+3] = -0.2e1 * t657 * t130 - 0.2e1 * t665 * t133 - t706 - 0.2e1 * t674 * t138 + t710;
<a name="l00626"></a>00626 cg[15*3+4] = t715 * t154 / 0.2e1 + t723 * t71 + t731 * t87;
<a name="l00627"></a>00627 cg[15*3+5] = t738 * t154 + t743 * t71 + t751 * t87;
<a name="l00628"></a>00628 cg[15*3+6] = t758 * t154 + t765 * t71 + t769 * t87;
<a name="l00629"></a>00629 cg[15*3+7] = t782 * t154 + t790 * t71 + t796 * t87;
<a name="l00630"></a>00630 cg[15*3+8] = t803 * t154 + t810 * t71 + t817 * t87;
<a name="l00631"></a>00631 cg[15*3+9] = t827 * t154 + t834 * t71 + t840 * t87;
<a name="l00632"></a>00632 cg[15*3+10] = t847 * t154 + t854 * t71 + t861 * t87;
<a name="l00633"></a>00633 cg[15*3+11] = t866 * t154 / 0.2e1 + t873 * t71 + t881 * t87;
<a name="l00634"></a>00634 cg[15*3+12] = t888 * t154 + t893 * t71 + t900 * t87;
<a name="l00635"></a>00635 cg[15*3+13] = t907 * t154 + t914 * t71 + t918 * t87;
<a name="l00636"></a>00636 cg[15*3+14] = t656 * t154 + t668 * t71 + t677 * t87;
<a name="l00637"></a>00637 cg[15*4+0] = -0.2e1 * t657 * t434 + t929 + t664 * t447 - 0.2e1 * t674 * t454 - t689;
<a name="l00638"></a>00638 cg[15*4+1] = -0.2e1 * t657 * t458 + t937 - 0.2e1 * t665 * t463 - 0.2e1 * t674 * t466 + t679;
<a name="l00639"></a>00639 cg[15*4+2] = -0.2e1 * t657 * t470 + t946 + t664 * t477 - 0.2e1 * t674 * t479 + t710;
<a name="l00640"></a>00640 cg[15*4+3] = -0.2e1 * t657 * t483 + t954 - 0.2e1 * t665 * t488 - 0.2e1 * t674 * t491 - t699;
<a name="l00641"></a>00641 cg[15*4+4] = t960 * t433 + t722 * t498 + t731 * t453;
<a name="l00642"></a>00642 cg[15*4+5] = t965 * t433 + t742 * t498 / 0.2e1 + t751 * t453;
<a name="l00643"></a>00643 cg[15*4+6] = t970 * t433 + t764 * t498 + t769 * t453;
<a name="l00644"></a>00644 cg[15*4+7] = t975 * t433 + t789 * t498 + t796 * t453;
<a name="l00645"></a>00645 cg[15*4+8] = t980 * t433 + t809 * t498 + t817 * t453;
<a name="l00646"></a>00646 cg[15*4+9] = t985 * t433 + t833 * t498 + t840 * t453;
<a name="l00647"></a>00647 cg[15*4+10] = t990 * t433 + t853 * t498 + t861 * t453;
<a name="l00648"></a>00648 cg[15*4+11] = t995 * t433 + t872 * t498 + t881 * t453;
<a name="l00649"></a>00649 cg[15*4+12] = t1000 * t433 + t892 * t498 / 0.2e1 + t900 * t453;
<a name="l00650"></a>00650 cg[15*4+13] = t1005 * t433 + t913 * t498 + t918 * t453;
<a name="l00651"></a>00651 cg[15*4+14] = t927 * t433 + t664 * t498 + t677 * t453;
<a name="l00652"></a>00652 cg[15*5+0] = -0.2e1 * t657 * t552 + t954 - 0.2e1 * t665 * t556 + t695 + t673 * t563;
<a name="l00653"></a>00653 cg[15*5+1] = -0.2e1 * t657 * t566 - t946 - 0.2e1 * t665 * t569 + t706 + t673 * t574;
<a name="l00654"></a>00654 cg[15*5+2] = -0.2e1 * t657 * t577 + t937 - 0.2e1 * t665 * t580 + t670 - 0.2e1 * t674 * t583;
<a name="l00655"></a>00655 cg[15*5+3] = -0.2e1 * t657 * t587 - t929 - 0.2e1 * t665 * t590 + t685 - 0.2e1 * t674 * t593;
<a name="l00656"></a>00656 cg[15*5+4] = t960 * t551 + t723 * t555 + t730 * t600;
<a name="l00657"></a>00657 cg[15*5+5] = t965 * t551 + t743 * t555 + t750 * t600;
<a name="l00658"></a>00658 cg[15*5+6] = t970 * t551 + t765 * t555 + t768 * t600 / 0.2e1;
<a name="l00659"></a>00659 cg[15*5+7] = t975 * t551 + t790 * t555 + t795 * t600;
<a name="l00660"></a>00660 cg[15*5+8] = t980 * t551 + t810 * t555 + t816 * t600;
<a name="l00661"></a>00661 cg[15*5+9] = t985 * t551 + t834 * t555 + t839 * t600;
<a name="l00662"></a>00662 cg[15*5+10] = t990 * t551 + t854 * t555 + t860 * t600;
<a name="l00663"></a>00663 cg[15*5+11] = t995 * t551 + t873 * t555 + t880 * t600;
<a name="l00664"></a>00664 cg[15*5+12] = t1000 * t551 + t893 * t555 + t899 * t600;
<a name="l00665"></a>00665 cg[15*5+13] = t1005 * t551 + t914 * t555 + t917 * t600 / 0.2e1;
<a name="l00666"></a>00666 cg[15*5+14] = t927 * t551 + t668 * t555 + t673 * t600;
<a name="l00667"></a>00667 cg[15*6+0] = -0.2e1 * t1093 * t52 - 0.2e1 * t1101 * t72 + t1106 - 0.2e1 * t1110 * t88 + t1115;
<a name="l00668"></a>00668 cg[15*6+1] = t1092 * t100 - 0.2e1 * t1101 * t102 + t1121 - 0.2e1 * t1110 * t107 + t1125;
<a name="l00669"></a>00669 cg[15*6+2] = t1092 * t117 - 0.2e1 * t1101 * t119 - t1131 - 0.2e1 * t1110 * t124 + t1135;
<a name="l00670"></a>00670 cg[15*6+3] = -0.2e1 * t1093 * t130 - 0.2e1 * t1101 * t133 - t1142 - 0.2e1 * t1110 * t138 + t1146;
<a name="l00671"></a>00671 cg[15*6+4] = t1151 * t154 / 0.2e1 + t1158 * t71 + t1166 * t87;
<a name="l00672"></a>00672 cg[15*6+5] = t1173 * t154 + t1177 * t71 + t1185 * t87;
<a name="l00673"></a>00673 cg[15*6+6] = t1192 * t154 + t1199 * t71 + t1204 * t87;
<a name="l00674"></a>00674 cg[15*6+7] = t1216 * t154 + t1223 * t71 + t1230 * t87;
<a name="l00675"></a>00675 cg[15*6+8] = t1240 * t154 + t1246 * t71 + t1253 * t87;
<a name="l00676"></a>00676 cg[15*6+9] = t1260 * t154 + t1267 * t71 + t1274 * t87;
<a name="l00677"></a>00677 cg[15*6+10] = t1281 * t154 + t1288 * t71 + t1295 * t87;
<a name="l00678"></a>00678 cg[15*6+11] = t1300 * t154 / 0.2e1 + t1307 * t71 + t1314 * t87;
<a name="l00679"></a>00679 cg[15*6+12] = t1321 * t154 + t1325 * t71 + t1332 * t87;
<a name="l00680"></a>00680 cg[15*6+13] = t1339 * t154 + t1346 * t71 + t1351 * t87;
<a name="l00681"></a>00681 cg[15*6+14] = t1092 * t154 + t1104 * t71 + t1113 * t87;
<a name="l00682"></a>00682 cg[15*7+0] = -0.2e1 * t1093 * t434 + t1362 + t1100 * t447 - 0.2e1 * t1110 * t454 - t1125;
<a name="l00683"></a>00683 cg[15*7+1] = -0.2e1 * t1093 * t458 + t1370 - 0.2e1 * t1101 * t463 - 0.2e1 * t1110 * t466 + t1115;
<a name="l00684"></a>00684 cg[15*7+2] = -0.2e1 * t1093 * t470 + t1379 + t1100 * t477 - 0.2e1 * t1110 * t479 + t1146;
<a name="l00685"></a>00685 cg[15*7+3] = -0.2e1 * t1093 * t483 + t1387 - 0.2e1 * t1101 * t488 - 0.2e1 * t1110 * t491 - t1135;
<a name="l00686"></a>00686 cg[15*7+4] = t1393 * t433 + t1157 * t498 + t1166 * t453;
<a name="l00687"></a>00687 cg[15*7+5] = t1398 * t433 + t1176 * t498 / 0.2e1 + t1185 * t453;
<a name="l00688"></a>00688 cg[15*7+6] = t1403 * t433 + t1198 * t498 + t1204 * t453;
<a name="l00689"></a>00689 cg[15*7+7] = t1408 * t433 + t1222 * t498 + t1230 * t453;
<a name="l00690"></a>00690 cg[15*7+8] = t1413 * t433 + t1245 * t498 + t1253 * t453;
<a name="l00691"></a>00691 cg[15*7+9] = t1418 * t433 + t1266 * t498 + t1274 * t453;
<a name="l00692"></a>00692 cg[15*7+10] = t1423 * t433 + t1287 * t498 + t1295 * t453;
<a name="l00693"></a>00693 cg[15*7+11] = t1428 * t433 + t1306 * t498 + t1314 * t453;
<a name="l00694"></a>00694 cg[15*7+12] = t1433 * t433 + t1324 * t498 / 0.2e1 + t1332 * t453;
<a name="l00695"></a>00695 cg[15*7+13] = t1438 * t433 + t1345 * t498 + t1351 * t453;
<a name="l00696"></a>00696 cg[15*7+14] = t1360 * t433 + t1100 * t498 + t1113 * t453;
<a name="l00697"></a>00697 cg[15*8+0] = -0.2e1 * t1093 * t552 + t1387 - 0.2e1 * t1101 * t556 + t1131 + t1109 * t563;
<a name="l00698"></a>00698 cg[15*8+1] = -0.2e1 * t1093 * t566 - t1379 - 0.2e1 * t1101 * t569 + t1142 + t1109 * t574;
<a name="l00699"></a>00699 cg[15*8+2] = -0.2e1 * t1093 * t577 + t1370 - 0.2e1 * t1101 * t580 + t1106 - 0.2e1 * t1110 * t583;
<a name="l00700"></a>00700 cg[15*8+3] = -0.2e1 * t1093 * t587 - t1362 - 0.2e1 * t1101 * t590 + t1121 - 0.2e1 * t1110 * t593;
<a name="l00701"></a>00701 cg[15*8+4] = t1393 * t551 + t1158 * t555 + t1165 * t600;
<a name="l00702"></a>00702 cg[15*8+5] = t1398 * t551 + t1177 * t555 + t1184 * t600;
<a name="l00703"></a>00703 cg[15*8+6] = t1403 * t551 + t1199 * t555 + t1203 * t600 / 0.2e1;
<a name="l00704"></a>00704 cg[15*8+7] = t1408 * t551 + t1223 * t555 + t1229 * t600;
<a name="l00705"></a>00705 cg[15*8+8] = t1413 * t551 + t1246 * t555 + t1252 * t600;
<a name="l00706"></a>00706 cg[15*8+9] = t1418 * t551 + t1267 * t555 + t1273 * t600;
<a name="l00707"></a>00707 cg[15*8+10] = t1423 * t551 + t1288 * t555 + t1294 * t600;
<a name="l00708"></a>00708 cg[15*8+11] = t1428 * t551 + t1307 * t555 + t1313 * t600;
<a name="l00709"></a>00709 cg[15*8+12] = t1433 * t551 + t1325 * t555 + t1331 * t600;
<a name="l00710"></a>00710 cg[15*8+13] = t1438 * t551 + t1346 * t555 + t1350 * t600 / 0.2e1;
<a name="l00711"></a>00711 cg[15*8+14] = t1360 * t551 + t1104 * t555 + t1109 * t600;
<a name="l00712"></a>00712 }
<a name="l00713"></a>00713 
<a name="l00714"></a>00714 <span class="comment">/*</span>
<a name="l00715"></a>00715 <span class="comment">###################</span>
<a name="l00716"></a>00716 <span class="comment"># Including modules with required functionality</span>
<a name="l00717"></a>00717 <span class="comment">#</span>
<a name="l00718"></a>00718 <span class="comment">with(VectorCalculus):</span>
<a name="l00719"></a>00719 <span class="comment">with(LinearAlgebra):</span>
<a name="l00720"></a>00720 <span class="comment"></span>
<a name="l00721"></a>00721 <span class="comment">###################</span>
<a name="l00722"></a>00722 <span class="comment"># Defining some projective algebra functions</span>
<a name="l00723"></a>00723 <span class="comment">#</span>
<a name="l00724"></a>00724 <span class="comment">Norm2 := v -&gt; sqrt(v(1)^2 + v(2)^2 + v(3)^2):</span>
<a name="l00725"></a>00725 <span class="comment">#FromHomogeneous2D := p3D -&gt; Vector([p3D(1)/p3D(3), p3D(2)/p3D(3)]):</span>
<a name="l00726"></a>00726 <span class="comment">CrossProductMatrix := v -&gt; Matrix([[0, -v(3), v(2)], [v(3), 0, -v(1)], [-v(2), v(1), 0]]):</span>
<a name="l00727"></a>00727 <span class="comment">QuaternionToRotationMatrix := q -&gt;</span>
<a name="l00728"></a>00728 <span class="comment">        Matrix([[1,0,0],[0,1,0],[0,0,1]]) +</span>
<a name="l00729"></a>00729 <span class="comment">        (2.0 / (q(1)^2+q(2)^2+q(3)^2+q(4)^2)) *</span>
<a name="l00730"></a>00730 <span class="comment">        Matrix( [       [-q(2)*q(2)-q(3)*q(3), q(1)*q(2)-q(3)*q(4), q(3)*q(1)+q(2)*q(4)],</span>
<a name="l00731"></a>00731 <span class="comment">                        [q(1)*q(2)+q(3)*q(4), -q(3)*q(3)-q(1)*q(1), q(2)*q(3)-q(1)*q(4)],</span>
<a name="l00732"></a>00732 <span class="comment">                        [q(3)*q(1)-q(2)*q(4), q(2)*q(3)+q(1)*q(4), -q(2)*q(2)-q(1)*q(1)]</span>
<a name="l00733"></a>00733 <span class="comment">                ]):</span>
<a name="l00734"></a>00734 <span class="comment"></span>
<a name="l00735"></a>00735 <span class="comment">###################</span>
<a name="l00736"></a>00736 <span class="comment"># Epipolar expression.</span>
<a name="l00737"></a>00737 <span class="comment">#</span>
<a name="l00738"></a>00738 <span class="comment"># The essential matrix is expressed related to two cameras, defined by the vectors</span>
<a name="l00739"></a>00739 <span class="comment">#</span>
<a name="l00740"></a>00740 <span class="comment">#       [v1x0, v1x1, v1x2, v1x3, v1x4, v1x5, v1x6]</span>
<a name="l00741"></a>00741 <span class="comment">#</span>
<a name="l00742"></a>00742 <span class="comment">#       and</span>
<a name="l00743"></a>00743 <span class="comment">#</span>
<a name="l00744"></a>00744 <span class="comment">#       [v2x0, v2x1, v2x2, v2x3, v2x4, v2x5, v2x6]</span>
<a name="l00745"></a>00745 <span class="comment">#</span>
<a name="l00746"></a>00746 <span class="comment">R1 := QuaternionToRotationMatrix(Vector([v1x0, v1x1, v1x2, v1x3])):</span>
<a name="l00747"></a>00747 <span class="comment">R2 := QuaternionToRotationMatrix(Vector([v2x0, v2x1, v2x2, v2x3])):</span>
<a name="l00748"></a>00748 <span class="comment">c1 := Vector([v1x4, v1x5, v1x6]):</span>
<a name="l00749"></a>00749 <span class="comment">c2 := Vector([v2x4, v2x5, v2x6]):</span>
<a name="l00750"></a>00750 <span class="comment">E := R2.CrossProductMatrix( (c2-c1) / Norm2(c2-c1)).Transpose(R1):</span>
<a name="l00751"></a>00751 <span class="comment"></span>
<a name="l00752"></a>00752 <span class="comment">###################</span>
<a name="l00753"></a>00753 <span class="comment"># Vectorized expression of the essential matrix</span>
<a name="l00754"></a>00754 <span class="comment">#</span>
<a name="l00755"></a>00755 <span class="comment">vectorE := Vector([E(1,1), E(1,2), E(1,3), E(2,1), E(2,2), E(2,3), E(3,1), E(3,2), E(3,3)]):</span>
<a name="l00756"></a>00756 <span class="comment"></span>
<a name="l00757"></a>00757 <span class="comment">###################</span>
<a name="l00758"></a>00758 <span class="comment"># Epipolar evaluation and Jacobian matrices.</span>
<a name="l00759"></a>00759 <span class="comment"># This matrix contains the jacobians for each pair of cameras in the map,</span>
<a name="l00760"></a>00760 <span class="comment"># and the evaluation of the epipolar error function, for the cameras</span>
<a name="l00761"></a>00761 <span class="comment">#</span>
<a name="l00762"></a>00762 <span class="comment">M := Matrix([</span>
<a name="l00763"></a>00763 <span class="comment">[ diff(vectorE(1), v1x0), diff(vectorE(1), v1x1), diff(vectorE(1), v1x2), diff(vectorE(1), v1x3), diff(vectorE(1), v1x4), diff(vectorE(1), v1x5), diff(vectorE(1), v1x6), vectorE(1) ],</span>
<a name="l00764"></a>00764 <span class="comment">[ diff(vectorE(2), v1x0), diff(vectorE(2), v1x1), diff(vectorE(2), v1x2), diff(vectorE(2), v1x3), diff(vectorE(2), v1x4), diff(vectorE(2), v1x5), diff(vectorE(2), v1x6), vectorE(2) ],</span>
<a name="l00765"></a>00765 <span class="comment">[ diff(vectorE(3), v1x0), diff(vectorE(3), v1x1), diff(vectorE(3), v1x2), diff(vectorE(3), v1x3), diff(vectorE(3), v1x4), diff(vectorE(3), v1x5), diff(vectorE(3), v1x6), vectorE(3) ],</span>
<a name="l00766"></a>00766 <span class="comment">[ diff(vectorE(4), v1x0), diff(vectorE(4), v1x1), diff(vectorE(4), v1x2), diff(vectorE(4), v1x3), diff(vectorE(4), v1x4), diff(vectorE(4), v1x5), diff(vectorE(4), v1x6), vectorE(4) ],</span>
<a name="l00767"></a>00767 <span class="comment">[ diff(vectorE(5), v1x0), diff(vectorE(5), v1x1), diff(vectorE(5), v1x2), diff(vectorE(5), v1x3), diff(vectorE(5), v1x4), diff(vectorE(5), v1x5), diff(vectorE(5), v1x6), vectorE(5) ],</span>
<a name="l00768"></a>00768 <span class="comment">[ diff(vectorE(6), v1x0), diff(vectorE(6), v1x1), diff(vectorE(6), v1x2), diff(vectorE(6), v1x3), diff(vectorE(6), v1x4), diff(vectorE(6), v1x5), diff(vectorE(6), v1x6), vectorE(6) ],</span>
<a name="l00769"></a>00769 <span class="comment">[ diff(vectorE(7), v1x0), diff(vectorE(7), v1x1), diff(vectorE(7), v1x2), diff(vectorE(7), v1x3), diff(vectorE(7), v1x4), diff(vectorE(7), v1x5), diff(vectorE(7), v1x6), vectorE(7) ],</span>
<a name="l00770"></a>00770 <span class="comment">[ diff(vectorE(8), v1x0), diff(vectorE(8), v1x1), diff(vectorE(8), v1x2), diff(vectorE(8), v1x3), diff(vectorE(8), v1x4), diff(vectorE(8), v1x5), diff(vectorE(8), v1x6), vectorE(8) ],</span>
<a name="l00771"></a>00771 <span class="comment">[ diff(vectorE(9), v1x0), diff(vectorE(9), v1x1), diff(vectorE(9), v1x2), diff(vectorE(9), v1x3), diff(vectorE(9), v1x4), diff(vectorE(9), v1x5), diff(vectorE(9), v1x6), vectorE(9) ]</span>
<a name="l00772"></a>00772 <span class="comment">]):</span>
<a name="l00773"></a>00773 <span class="comment"></span>
<a name="l00774"></a>00774 <span class="comment">###################</span>
<a name="l00775"></a>00775 <span class="comment"># Display the C code to evaluate the previous matrix</span>
<a name="l00776"></a>00776 <span class="comment">#</span>
<a name="l00777"></a>00777 <span class="comment">CodeGeneration[C](M, optimize = true);</span>
<a name="l00778"></a>00778 <span class="comment">*/</span>
<a name="l00779"></a>00779 <span class="keywordtype">void</span> partialLeftQuaternionEssentialEvaluation(<span class="keyword">const</span> <span class="keywordtype">double</span> *pose1, <span class="keyword">const</span> <span class="keywordtype">double</span> *pose2, <span class="keywordtype">double</span> *cg)
<a name="l00780"></a>00780 {
<a name="l00781"></a>00781 <span class="keyword">const</span> <span class="keywordtype">double</span>    
<a name="l00782"></a>00782                 v1x0 = pose1[0],
<a name="l00783"></a>00783                 v1x1 = pose1[1],
<a name="l00784"></a>00784                 v1x2 = pose1[2],
<a name="l00785"></a>00785                 v1x3 = pose1[3],
<a name="l00786"></a>00786                 v1x4 = pose1[4],
<a name="l00787"></a>00787                 v1x5 = pose1[5],
<a name="l00788"></a>00788                 v1x6 = pose1[6];
<a name="l00789"></a>00789 
<a name="l00790"></a>00790 <span class="keyword">const</span> <span class="keywordtype">double</span>    
<a name="l00791"></a>00791                 v2x0 = pose2[0],
<a name="l00792"></a>00792                 v2x1 = pose2[1],
<a name="l00793"></a>00793                 v2x2 = pose2[2],
<a name="l00794"></a>00794                 v2x3 = pose2[3],
<a name="l00795"></a>00795                 v2x4 = pose2[4],
<a name="l00796"></a>00796                 v2x5 = pose2[5],
<a name="l00797"></a>00797                 v2x6 = pose2[6];
<a name="l00798"></a>00798 
<a name="l00799"></a>00799 <span class="keyword">const</span> <span class="keywordtype">double</span> t1 = v2x0 * v2x0;
<a name="l00800"></a>00800 <span class="keyword">const</span> <span class="keywordtype">double</span> t2 = v2x1 * v2x1;
<a name="l00801"></a>00801 <span class="keyword">const</span> <span class="keywordtype">double</span> t3 = v2x2 * v2x2;
<a name="l00802"></a>00802 <span class="keyword">const</span> <span class="keywordtype">double</span> t4 = v2x3 * v2x3;
<a name="l00803"></a>00803 <span class="keyword">const</span> <span class="keywordtype">double</span> t6 = 0.1e1 / (t1 + t2 + t3 + t4);
<a name="l00804"></a>00804 <span class="keyword">const</span> <span class="keywordtype">double</span> t8 = 0.20e1 * v2x0 * v2x1;
<a name="l00805"></a>00805 <span class="keyword">const</span> <span class="keywordtype">double</span> t10 = 0.20e1 * v2x2 * v2x3;
<a name="l00806"></a>00806 <span class="keyword">const</span> <span class="keywordtype">double</span> t12 = t6 * (t8 - t10);
<a name="l00807"></a>00807 <span class="keyword">const</span> <span class="keywordtype">double</span> t13 =  (v2x4 * v2x4);
<a name="l00808"></a>00808 <span class="keyword">const</span> <span class="keywordtype">double</span> t16 =  (v1x4 * v1x4);
<a name="l00809"></a>00809 <span class="keyword">const</span> <span class="keywordtype">double</span> t17 =  (v2x5 * v2x5);
<a name="l00810"></a>00810 <span class="keyword">const</span> <span class="keywordtype">double</span> t20 =  (v1x5 * v1x5);
<a name="l00811"></a>00811 <span class="keyword">const</span> <span class="keywordtype">double</span> t21 =  (v2x6 * v2x6);
<a name="l00812"></a>00812 <span class="keyword">const</span> <span class="keywordtype">double</span> t24 =  (v1x6 * v1x6);
<a name="l00813"></a>00813 <span class="keyword">const</span> <span class="keywordtype">double</span> t25 = t13 - 2 * v2x4 * v1x4 + t16 + t17 - 2 * v2x5 * v1x5 + t20 + t21 - 2 * v2x6 * v1x6 + t24;
<a name="l00814"></a>00814 <span class="keyword">const</span> <span class="keywordtype">double</span> t26 = sqrt(t25);
<a name="l00815"></a>00815 <span class="keyword">const</span> <span class="keywordtype">double</span> t27 = 0.1e1 / t26;
<a name="l00816"></a>00816 <span class="keyword">const</span> <span class="keywordtype">double</span> t28 = v2x6 - v1x6;
<a name="l00817"></a>00817 <span class="keyword">const</span> <span class="keywordtype">double</span> t29 = t27 * t28;
<a name="l00818"></a>00818 <span class="keyword">const</span> <span class="keywordtype">double</span> t32 = 0.20e1 * v2x2 * v2x0;
<a name="l00819"></a>00819 <span class="keyword">const</span> <span class="keywordtype">double</span> t34 = 0.20e1 * v2x1 * v2x3;
<a name="l00820"></a>00820 <span class="keyword">const</span> <span class="keywordtype">double</span> t36 = t6 * (t32 + t34);
<a name="l00821"></a>00821 <span class="keyword">const</span> <span class="keywordtype">double</span> t37 = v2x5 - v1x5;
<a name="l00822"></a>00822 <span class="keyword">const</span> <span class="keywordtype">double</span> t38 = t27 * t37;
<a name="l00823"></a>00823 <span class="keyword">const</span> <span class="keywordtype">double</span> t40 = t12 * t29 - t36 * t38;
<a name="l00824"></a>00824 <span class="keyword">const</span> <span class="keywordtype">double</span> t41 = v1x0 * v1x0;
<a name="l00825"></a>00825 <span class="keyword">const</span> <span class="keywordtype">double</span> t42 = v1x1 * v1x1;
<a name="l00826"></a>00826 <span class="keyword">const</span> <span class="keywordtype">double</span> t43 = v1x2 * v1x2;
<a name="l00827"></a>00827 <span class="keyword">const</span> <span class="keywordtype">double</span> t44 = v1x3 * v1x3;
<a name="l00828"></a>00828 <span class="keyword">const</span> <span class="keywordtype">double</span> t45 = t41 + t42 + t43 + t44;
<a name="l00829"></a>00829 <span class="keyword">const</span> <span class="keywordtype">double</span> t46 = t45 * t45;
<a name="l00830"></a>00830 <span class="keyword">const</span> <span class="keywordtype">double</span> t47 = 0.1e1 / t46;
<a name="l00831"></a>00831 <span class="keyword">const</span> <span class="keywordtype">double</span> t48 = t40 * t47;
<a name="l00832"></a>00832 <span class="keyword">const</span> <span class="keywordtype">double</span> t49 = 0.20e1 * t42;
<a name="l00833"></a>00833 <span class="keyword">const</span> <span class="keywordtype">double</span> t50 = 0.20e1 * t43;
<a name="l00834"></a>00834 <span class="keyword">const</span> <span class="keywordtype">double</span> t51 = -t49 - t50;
<a name="l00835"></a>00835 <span class="keyword">const</span> <span class="keywordtype">double</span> t52 = t51 * v1x0;
<a name="l00836"></a>00836 <span class="keyword">const</span> <span class="keywordtype">double</span> t55 = 0.20e1 * t2;
<a name="l00837"></a>00837 <span class="keyword">const</span> <span class="keywordtype">double</span> t56 = 0.20e1 * t3;
<a name="l00838"></a>00838 <span class="keyword">const</span> <span class="keywordtype">double</span> t59 = 0.1e1 + t6 * (-t55 - t56);
<a name="l00839"></a>00839 <span class="keyword">const</span> <span class="keywordtype">double</span> t60 = t59 * t27;
<a name="l00840"></a>00840 <span class="keyword">const</span> <span class="keywordtype">double</span> t62 = v2x4 - v1x4;
<a name="l00841"></a>00841 <span class="keyword">const</span> <span class="keywordtype">double</span> t63 = t27 * t62;
<a name="l00842"></a>00842 <span class="keyword">const</span> <span class="keywordtype">double</span> t65 = -t60 * t28 + t36 * t63;
<a name="l00843"></a>00843 <span class="keyword">const</span> <span class="keywordtype">double</span> t66 = t65 * t47;
<a name="l00844"></a>00844 <span class="keyword">const</span> <span class="keywordtype">double</span> t68 = 0.20e1 * v1x0 * v1x1;
<a name="l00845"></a>00845 <span class="keyword">const</span> <span class="keywordtype">double</span> t70 = 0.20e1 * v1x2 * v1x3;
<a name="l00846"></a>00846 <span class="keyword">const</span> <span class="keywordtype">double</span> t71 = t68 - t70;
<a name="l00847"></a>00847 <span class="keyword">const</span> <span class="keywordtype">double</span> t72 = t71 * v1x0;
<a name="l00848"></a>00848 <span class="keyword">const</span> <span class="keywordtype">double</span> t75 = 0.1e1 / t45;
<a name="l00849"></a>00849 <span class="keyword">const</span> <span class="keywordtype">double</span> t76 = t65 * t75;
<a name="l00850"></a>00850 <span class="keyword">const</span> <span class="keywordtype">double</span> t78 = 0.20e1 * t76 * v1x1;
<a name="l00851"></a>00851 <span class="keyword">const</span> <span class="keywordtype">double</span> t81 = t60 * t37 - t12 * t63;
<a name="l00852"></a>00852 <span class="keyword">const</span> <span class="keywordtype">double</span> t82 = t81 * t47;
<a name="l00853"></a>00853 <span class="keyword">const</span> <span class="keywordtype">double</span> t84 = 0.20e1 * v1x2 * v1x0;
<a name="l00854"></a>00854 <span class="keyword">const</span> <span class="keywordtype">double</span> t86 = 0.20e1 * v1x1 * v1x3;
<a name="l00855"></a>00855 <span class="keyword">const</span> <span class="keywordtype">double</span> t87 = t84 + t86;
<a name="l00856"></a>00856 <span class="keyword">const</span> <span class="keywordtype">double</span> t88 = t87 * v1x0;
<a name="l00857"></a>00857 <span class="keyword">const</span> <span class="keywordtype">double</span> t91 = t81 * t75;
<a name="l00858"></a>00858 <span class="keyword">const</span> <span class="keywordtype">double</span> t93 = 0.20e1 * t91 * v1x2;
<a name="l00859"></a>00859 <span class="keyword">const</span> <span class="keywordtype">double</span> t95 = t47 * t51;
<a name="l00860"></a>00860 <span class="keyword">const</span> <span class="keywordtype">double</span> t99 = 0.40e1 * t75 * v1x1;
<a name="l00861"></a>00861 <span class="keyword">const</span> <span class="keywordtype">double</span> t100 = -0.2e1 * t95 * v1x1 - t99;
<a name="l00862"></a>00862 <span class="keyword">const</span> <span class="keywordtype">double</span> t102 = t71 * v1x1;
<a name="l00863"></a>00863 <span class="keyword">const</span> <span class="keywordtype">double</span> t106 = 0.20e1 * t76 * v1x0;
<a name="l00864"></a>00864 <span class="keyword">const</span> <span class="keywordtype">double</span> t107 = t87 * v1x1;
<a name="l00865"></a>00865 <span class="keyword">const</span> <span class="keywordtype">double</span> t111 = 0.20e1 * t91 * v1x3;
<a name="l00866"></a>00866 <span class="keyword">const</span> <span class="keywordtype">double</span> t116 = 0.40e1 * t75 * v1x2;
<a name="l00867"></a>00867 <span class="keyword">const</span> <span class="keywordtype">double</span> t117 = -0.2e1 * t95 * v1x2 - t116;
<a name="l00868"></a>00868 <span class="keyword">const</span> <span class="keywordtype">double</span> t119 = t71 * v1x2;
<a name="l00869"></a>00869 <span class="keyword">const</span> <span class="keywordtype">double</span> t123 = 0.20e1 * t76 * v1x3;
<a name="l00870"></a>00870 <span class="keyword">const</span> <span class="keywordtype">double</span> t124 = t87 * v1x2;
<a name="l00871"></a>00871 <span class="keyword">const</span> <span class="keywordtype">double</span> t128 = 0.20e1 * t91 * v1x0;
<a name="l00872"></a>00872 <span class="keyword">const</span> <span class="keywordtype">double</span> t130 = t51 * v1x3;
<a name="l00873"></a>00873 <span class="keyword">const</span> <span class="keywordtype">double</span> t133 = t71 * v1x3;
<a name="l00874"></a>00874 <span class="keyword">const</span> <span class="keywordtype">double</span> t137 = 0.20e1 * t76 * v1x2;
<a name="l00875"></a>00875 <span class="keyword">const</span> <span class="keywordtype">double</span> t138 = t87 * v1x3;
<a name="l00876"></a>00876 <span class="keyword">const</span> <span class="keywordtype">double</span> t142 = 0.20e1 * t91 * v1x1;
<a name="l00877"></a>00877 <span class="keyword">const</span> <span class="keywordtype">double</span> t145 = 0.1e1 / t26 / t25;
<a name="l00878"></a>00878 <span class="keyword">const</span> <span class="keywordtype">double</span> t146 = t145 * t28;
<a name="l00879"></a>00879 <span class="keyword">const</span> <span class="keywordtype">double</span> t147 = -0.2e1 * t146 * t62;
<a name="l00880"></a>00880 <span class="keyword">const</span> <span class="keywordtype">double</span> t149 = t145 * t37;
<a name="l00881"></a>00881 <span class="keyword">const</span> <span class="keywordtype">double</span> t150 = -0.2e1 * t149 * t62;
<a name="l00882"></a>00882 <span class="keyword">const</span> <span class="keywordtype">double</span> t152 = -t12 * t147 + t36 * t150;
<a name="l00883"></a>00883 <span class="keyword">const</span> <span class="keywordtype">double</span> t154 = 0.1e1 + t75 * t51;
<a name="l00884"></a>00884 <span class="keyword">const</span> <span class="keywordtype">double</span> t156 = t59 * t145;
<a name="l00885"></a>00885 <span class="keyword">const</span> <span class="keywordtype">double</span> t157 = -2 * t28 * t62;
<a name="l00886"></a>00886 <span class="keyword">const</span> <span class="keywordtype">double</span> t160 = t145 * t62;
<a name="l00887"></a>00887 <span class="keyword">const</span> <span class="keywordtype">double</span> t161 = -0.2e1 * t160 * t62;
<a name="l00888"></a>00888 <span class="keyword">const</span> <span class="keywordtype">double</span> t164 = t36 * t27;
<a name="l00889"></a>00889 <span class="keyword">const</span> <span class="keywordtype">double</span> t165 = t156 * t157 / 0.2e1 - t36 * t161 / 0.2e1 - t164;
<a name="l00890"></a>00890 <span class="keyword">const</span> <span class="keywordtype">double</span> t166 = t165 * t75;
<a name="l00891"></a>00891 <span class="keyword">const</span> <span class="keywordtype">double</span> t168 = -2 * t37 * t62;
<a name="l00892"></a>00892 <span class="keyword">const</span> <span class="keywordtype">double</span> t173 = t12 * t27;
<a name="l00893"></a>00893 <span class="keyword">const</span> <span class="keywordtype">double</span> t174 = -t156 * t168 / 0.2e1 + t12 * t161 / 0.2e1 + t173;
<a name="l00894"></a>00894 <span class="keyword">const</span> <span class="keywordtype">double</span> t175 = t174 * t75;
<a name="l00895"></a>00895 <span class="keyword">const</span> <span class="keywordtype">double</span> t178 = -0.2e1 * t146 * t37;
<a name="l00896"></a>00896 <span class="keyword">const</span> <span class="keywordtype">double</span> t181 = -0.2e1 * t149 * t37;
<a name="l00897"></a>00897 <span class="keyword">const</span> <span class="keywordtype">double</span> t184 = -t12 * t178 / 0.2e1 + t36 * t181 / 0.2e1 + t164;
<a name="l00898"></a>00898 <span class="keyword">const</span> <span class="keywordtype">double</span> t186 = -2 * t28 * t37;
<a name="l00899"></a>00899 <span class="keyword">const</span> <span class="keywordtype">double</span> t187 = t156 * t186;
<a name="l00900"></a>00900 <span class="keyword">const</span> <span class="keywordtype">double</span> t188 = -0.2e1 * t160 * t37;
<a name="l00901"></a>00901 <span class="keyword">const</span> <span class="keywordtype">double</span> t190 = t187 - t36 * t188;
<a name="l00902"></a>00902 <span class="keyword">const</span> <span class="keywordtype">double</span> t191 = t190 * t75 / 0.2e1;
<a name="l00903"></a>00903 <span class="keyword">const</span> <span class="keywordtype">double</span> t193 = -2 * t37 * t37;
<a name="l00904"></a>00904 <span class="keyword">const</span> <span class="keywordtype">double</span> t198 = -t156 * t193 / 0.2e1 - t60 + t12 * t188 / 0.2e1;
<a name="l00905"></a>00905 <span class="keyword">const</span> <span class="keywordtype">double</span> t199 = t198 * t75;
<a name="l00906"></a>00906 <span class="keyword">const</span> <span class="keywordtype">double</span> t202 = -0.2e1 * t146 * t28;
<a name="l00907"></a>00907 <span class="keyword">const</span> <span class="keywordtype">double</span> t205 = -0.2e1 * t149 * t28;
<a name="l00908"></a>00908 <span class="keyword">const</span> <span class="keywordtype">double</span> t208 = -t12 * t202 / 0.2e1 - t173 + t36 * t205 / 0.2e1;
<a name="l00909"></a>00909 <span class="keyword">const</span> <span class="keywordtype">double</span> t210 = -2 * t28 * t28;
<a name="l00910"></a>00910 <span class="keyword">const</span> <span class="keywordtype">double</span> t213 = -0.2e1 * t160 * t28;
<a name="l00911"></a>00911 <span class="keyword">const</span> <span class="keywordtype">double</span> t216 = t156 * t210 / 0.2e1 + t60 - t36 * t213 / 0.2e1;
<a name="l00912"></a>00912 <span class="keyword">const</span> <span class="keywordtype">double</span> t217 = t216 * t75;
<a name="l00913"></a>00913 <span class="keyword">const</span> <span class="keywordtype">double</span> t220 = -t187 + t12 * t213;
<a name="l00914"></a>00914 <span class="keyword">const</span> <span class="keywordtype">double</span> t221 = t220 * t75 / 0.2e1;
<a name="l00915"></a>00915 <span class="keyword">const</span> <span class="keywordtype">double</span> t228 = t68 + t70;
<a name="l00916"></a>00916 <span class="keyword">const</span> <span class="keywordtype">double</span> t229 = t228 * v1x0;
<a name="l00917"></a>00917 <span class="keyword">const</span> <span class="keywordtype">double</span> t232 = t40 * t75;
<a name="l00918"></a>00918 <span class="keyword">const</span> <span class="keywordtype">double</span> t234 = 0.20e1 * t232 * v1x1;
<a name="l00919"></a>00919 <span class="keyword">const</span> <span class="keywordtype">double</span> t235 = 0.20e1 * t41;
<a name="l00920"></a>00920 <span class="keyword">const</span> <span class="keywordtype">double</span> t236 = -t50 - t235;
<a name="l00921"></a>00921 <span class="keyword">const</span> <span class="keywordtype">double</span> t237 = t47 * t236;
<a name="l00922"></a>00922 <span class="keyword">const</span> <span class="keywordtype">double</span> t241 = 0.40e1 * t75 * v1x0;
<a name="l00923"></a>00923 <span class="keyword">const</span> <span class="keywordtype">double</span> t242 = -0.2e1 * t237 * v1x0 - t241;
<a name="l00924"></a>00924 <span class="keyword">const</span> <span class="keywordtype">double</span> t245 = 0.20e1 * v1x1 * v1x2;
<a name="l00925"></a>00925 <span class="keyword">const</span> <span class="keywordtype">double</span> t247 = 0.20e1 * v1x0 * v1x3;
<a name="l00926"></a>00926 <span class="keyword">const</span> <span class="keywordtype">double</span> t248 = t245 - t247;
<a name="l00927"></a>00927 <span class="keyword">const</span> <span class="keywordtype">double</span> t249 = t248 * v1x0;
<a name="l00928"></a>00928 <span class="keyword">const</span> <span class="keywordtype">double</span> t253 = t228 * v1x1;
<a name="l00929"></a>00929 <span class="keyword">const</span> <span class="keywordtype">double</span> t257 = 0.20e1 * t232 * v1x0;
<a name="l00930"></a>00930 <span class="keyword">const</span> <span class="keywordtype">double</span> t258 = t236 * v1x1;
<a name="l00931"></a>00931 <span class="keyword">const</span> <span class="keywordtype">double</span> t261 = t248 * v1x1;
<a name="l00932"></a>00932 <span class="keyword">const</span> <span class="keywordtype">double</span> t265 = t228 * v1x2;
<a name="l00933"></a>00933 <span class="keyword">const</span> <span class="keywordtype">double</span> t269 = 0.20e1 * t232 * v1x3;
<a name="l00934"></a>00934 <span class="keyword">const</span> <span class="keywordtype">double</span> t272 = -0.2e1 * t237 * v1x2 - t116;
<a name="l00935"></a>00935 <span class="keyword">const</span> <span class="keywordtype">double</span> t274 = t248 * v1x2;
<a name="l00936"></a>00936 <span class="keyword">const</span> <span class="keywordtype">double</span> t278 = t228 * v1x3;
<a name="l00937"></a>00937 <span class="keyword">const</span> <span class="keywordtype">double</span> t282 = 0.20e1 * t232 * v1x2;
<a name="l00938"></a>00938 <span class="keyword">const</span> <span class="keywordtype">double</span> t283 = t236 * v1x3;
<a name="l00939"></a>00939 <span class="keyword">const</span> <span class="keywordtype">double</span> t286 = t248 * v1x3;
<a name="l00940"></a>00940 <span class="keyword">const</span> <span class="keywordtype">double</span> t290 = t152 * t75 / 0.2e1;
<a name="l00941"></a>00941 <span class="keyword">const</span> <span class="keywordtype">double</span> t293 = 0.1e1 + t75 * t236;
<a name="l00942"></a>00942 <span class="keyword">const</span> <span class="keywordtype">double</span> t297 = t184 * t75;
<a name="l00943"></a>00943 <span class="keyword">const</span> <span class="keywordtype">double</span> t302 = t208 * t75;
<a name="l00944"></a>00944 <span class="keyword">const</span> <span class="keywordtype">double</span> t311 = t84 - t86;
<a name="l00945"></a>00945 <span class="keyword">const</span> <span class="keywordtype">double</span> t312 = t311 * v1x0;
<a name="l00946"></a>00946 <span class="keyword">const</span> <span class="keywordtype">double</span> t315 = t245 + t247;
<a name="l00947"></a>00947 <span class="keyword">const</span> <span class="keywordtype">double</span> t316 = t315 * v1x0;
<a name="l00948"></a>00948 <span class="keyword">const</span> <span class="keywordtype">double</span> t319 = -t49 - t235;
<a name="l00949"></a>00949 <span class="keyword">const</span> <span class="keywordtype">double</span> t320 = t47 * t319;
<a name="l00950"></a>00950 <span class="keyword">const</span> <span class="keywordtype">double</span> t323 = -0.2e1 * t320 * v1x0 - t241;
<a name="l00951"></a>00951 <span class="keyword">const</span> <span class="keywordtype">double</span> t326 = t311 * v1x1;
<a name="l00952"></a>00952 <span class="keyword">const</span> <span class="keywordtype">double</span> t329 = t315 * v1x1;
<a name="l00953"></a>00953 <span class="keyword">const</span> <span class="keywordtype">double</span> t334 = -0.2e1 * t320 * v1x1 - t99;
<a name="l00954"></a>00954 <span class="keyword">const</span> <span class="keywordtype">double</span> t337 = t311 * v1x2;
<a name="l00955"></a>00955 <span class="keyword">const</span> <span class="keywordtype">double</span> t340 = t315 * v1x2;
<a name="l00956"></a>00956 <span class="keyword">const</span> <span class="keywordtype">double</span> t343 = t319 * v1x2;
<a name="l00957"></a>00957 <span class="keyword">const</span> <span class="keywordtype">double</span> t347 = t311 * v1x3;
<a name="l00958"></a>00958 <span class="keyword">const</span> <span class="keywordtype">double</span> t350 = t315 * v1x3;
<a name="l00959"></a>00959 <span class="keyword">const</span> <span class="keywordtype">double</span> t353 = t319 * v1x3;
<a name="l00960"></a>00960 <span class="keyword">const</span> <span class="keywordtype">double</span> t360 = 0.1e1 + t75 * t319;
<a name="l00961"></a>00961 <span class="keyword">const</span> <span class="keywordtype">double</span> t375 = 0.20e1 * t1;
<a name="l00962"></a>00962 <span class="keyword">const</span> <span class="keywordtype">double</span> t378 = 0.1e1 + t6 * (-t56 - t375);
<a name="l00963"></a>00963 <span class="keyword">const</span> <span class="keywordtype">double</span> t379 = t378 * t27;
<a name="l00964"></a>00964 <span class="keyword">const</span> <span class="keywordtype">double</span> t382 = 0.20e1 * v2x1 * v2x2;
<a name="l00965"></a>00965 <span class="keyword">const</span> <span class="keywordtype">double</span> t384 = 0.20e1 * v2x0 * v2x3;
<a name="l00966"></a>00966 <span class="keyword">const</span> <span class="keywordtype">double</span> t386 = t6 * (t382 - t384);
<a name="l00967"></a>00967 <span class="keyword">const</span> <span class="keywordtype">double</span> t388 = t379 * t28 - t386 * t38;
<a name="l00968"></a>00968 <span class="keyword">const</span> <span class="keywordtype">double</span> t389 = t388 * t47;
<a name="l00969"></a>00969 <span class="keyword">const</span> <span class="keywordtype">double</span> t393 = t6 * (t8 + t10);
<a name="l00970"></a>00970 <span class="keyword">const</span> <span class="keywordtype">double</span> t396 = -t393 * t29 + t386 * t63;
<a name="l00971"></a>00971 <span class="keyword">const</span> <span class="keywordtype">double</span> t397 = t396 * t47;
<a name="l00972"></a>00972 <span class="keyword">const</span> <span class="keywordtype">double</span> t400 = t396 * t75;
<a name="l00973"></a>00973 <span class="keyword">const</span> <span class="keywordtype">double</span> t402 = 0.20e1 * t400 * v1x1;
<a name="l00974"></a>00974 <span class="keyword">const</span> <span class="keywordtype">double</span> t405 = t393 * t38 - t379 * t62;
<a name="l00975"></a>00975 <span class="keyword">const</span> <span class="keywordtype">double</span> t406 = t405 * t47;
<a name="l00976"></a>00976 <span class="keyword">const</span> <span class="keywordtype">double</span> t409 = t405 * t75;
<a name="l00977"></a>00977 <span class="keyword">const</span> <span class="keywordtype">double</span> t411 = 0.20e1 * t409 * v1x2;
<a name="l00978"></a>00978 <span class="keyword">const</span> <span class="keywordtype">double</span> t417 = 0.20e1 * t400 * v1x0;
<a name="l00979"></a>00979 <span class="keyword">const</span> <span class="keywordtype">double</span> t421 = 0.20e1 * t409 * v1x3;
<a name="l00980"></a>00980 <span class="keyword">const</span> <span class="keywordtype">double</span> t427 = 0.20e1 * t400 * v1x3;
<a name="l00981"></a>00981 <span class="keyword">const</span> <span class="keywordtype">double</span> t431 = 0.20e1 * t409 * v1x0;
<a name="l00982"></a>00982 <span class="keyword">const</span> <span class="keywordtype">double</span> t438 = 0.20e1 * t400 * v1x2;
<a name="l00983"></a>00983 <span class="keyword">const</span> <span class="keywordtype">double</span> t442 = 0.20e1 * t409 * v1x1;
<a name="l00984"></a>00984 <span class="keyword">const</span> <span class="keywordtype">double</span> t444 = t378 * t145;
<a name="l00985"></a>00985 <span class="keyword">const</span> <span class="keywordtype">double</span> t445 = t444 * t157;
<a name="l00986"></a>00986 <span class="keyword">const</span> <span class="keywordtype">double</span> t447 = -t445 + t386 * t150;
<a name="l00987"></a>00987 <span class="keyword">const</span> <span class="keywordtype">double</span> t453 = t386 * t27;
<a name="l00988"></a>00988 <span class="keyword">const</span> <span class="keywordtype">double</span> t454 = t393 * t147 / 0.2e1 - t386 * t161 / 0.2e1 - t453;
<a name="l00989"></a>00989 <span class="keyword">const</span> <span class="keywordtype">double</span> t455 = t454 * t75;
<a name="l00990"></a>00990 <span class="keyword">const</span> <span class="keywordtype">double</span> t459 = -2 * t62 * t62;
<a name="l00991"></a>00991 <span class="keyword">const</span> <span class="keywordtype">double</span> t462 = -t393 * t150 / 0.2e1 + t444 * t459 / 0.2e1 + t379;
<a name="l00992"></a>00992 <span class="keyword">const</span> <span class="keywordtype">double</span> t463 = t462 * t75;
<a name="l00993"></a>00993 <span class="keyword">const</span> <span class="keywordtype">double</span> t470 = -t444 * t186 / 0.2e1 + t386 * t181 / 0.2e1 + t453;
<a name="l00994"></a>00994 <span class="keyword">const</span> <span class="keywordtype">double</span> t474 = t393 * t178 - t386 * t188;
<a name="l00995"></a>00995 <span class="keyword">const</span> <span class="keywordtype">double</span> t475 = t474 * t75 / 0.2e1;
<a name="l00996"></a>00996 <span class="keyword">const</span> <span class="keywordtype">double</span> t479 = t393 * t27;
<a name="l00997"></a>00997 <span class="keyword">const</span> <span class="keywordtype">double</span> t482 = -t393 * t181 / 0.2e1 - t479 + t444 * t168 / 0.2e1;
<a name="l00998"></a>00998 <span class="keyword">const</span> <span class="keywordtype">double</span> t483 = t482 * t75;
<a name="l00999"></a>00999 <span class="keyword">const</span> <span class="keywordtype">double</span> t490 = -t444 * t210 / 0.2e1 - t379 + t386 * t205 / 0.2e1;
<a name="l01000"></a>01000 <span class="keyword">const</span> <span class="keywordtype">double</span> t496 = t393 * t202 / 0.2e1 + t479 - t386 * t213 / 0.2e1;
<a name="l01001"></a>01001 <span class="keyword">const</span> <span class="keywordtype">double</span> t497 = t496 * t75;
<a name="l01002"></a>01002 <span class="keyword">const</span> <span class="keywordtype">double</span> t500 = -t393 * t205 + t445;
<a name="l01003"></a>01003 <span class="keyword">const</span> <span class="keywordtype">double</span> t501 = t500 * t75 / 0.2e1;
<a name="l01004"></a>01004 <span class="keyword">const</span> <span class="keywordtype">double</span> t510 = t388 * t75;
<a name="l01005"></a>01005 <span class="keyword">const</span> <span class="keywordtype">double</span> t512 = 0.20e1 * t510 * v1x1;
<a name="l01006"></a>01006 <span class="keyword">const</span> <span class="keywordtype">double</span> t520 = 0.20e1 * t510 * v1x0;
<a name="l01007"></a>01007 <span class="keyword">const</span> <span class="keywordtype">double</span> t529 = 0.20e1 * t510 * v1x3;
<a name="l01008"></a>01008 <span class="keyword">const</span> <span class="keywordtype">double</span> t537 = 0.20e1 * t510 * v1x2;
<a name="l01009"></a>01009 <span class="keyword">const</span> <span class="keywordtype">double</span> t543 = t447 * t75 / 0.2e1;
<a name="l01010"></a>01010 <span class="keyword">const</span> <span class="keywordtype">double</span> t548 = t470 * t75;
<a name="l01011"></a>01011 <span class="keyword">const</span> <span class="keywordtype">double</span> t553 = t490 * t75;
<a name="l01012"></a>01012 <span class="keyword">const</span> <span class="keywordtype">double</span> t605 = t6 * (t382 + t384);
<a name="l01013"></a>01013 <span class="keyword">const</span> <span class="keywordtype">double</span> t609 = 0.1e1 + t6 * (-t55 - t375);
<a name="l01014"></a>01014 <span class="keyword">const</span> <span class="keywordtype">double</span> t610 = t609 * t27;
<a name="l01015"></a>01015 <span class="keyword">const</span> <span class="keywordtype">double</span> t612 = t605 * t29 - t610 * t37;
<a name="l01016"></a>01016 <span class="keyword">const</span> <span class="keywordtype">double</span> t613 = t612 * t47;
<a name="l01017"></a>01017 <span class="keyword">const</span> <span class="keywordtype">double</span> t617 = t6 * (t32 - t34);
<a name="l01018"></a>01018 <span class="keyword">const</span> <span class="keywordtype">double</span> t620 = -t617 * t29 + t610 * t62;
<a name="l01019"></a>01019 <span class="keyword">const</span> <span class="keywordtype">double</span> t621 = t620 * t47;
<a name="l01020"></a>01020 <span class="keyword">const</span> <span class="keywordtype">double</span> t624 = t620 * t75;
<a name="l01021"></a>01021 <span class="keyword">const</span> <span class="keywordtype">double</span> t626 = 0.20e1 * t624 * v1x1;
<a name="l01022"></a>01022 <span class="keyword">const</span> <span class="keywordtype">double</span> t629 = t617 * t38 - t605 * t63;
<a name="l01023"></a>01023 <span class="keyword">const</span> <span class="keywordtype">double</span> t630 = t629 * t47;
<a name="l01024"></a>01024 <span class="keyword">const</span> <span class="keywordtype">double</span> t633 = t629 * t75;
<a name="l01025"></a>01025 <span class="keyword">const</span> <span class="keywordtype">double</span> t635 = 0.20e1 * t633 * v1x2;
<a name="l01026"></a>01026 <span class="keyword">const</span> <span class="keywordtype">double</span> t641 = 0.20e1 * t624 * v1x0;
<a name="l01027"></a>01027 <span class="keyword">const</span> <span class="keywordtype">double</span> t645 = 0.20e1 * t633 * v1x3;
<a name="l01028"></a>01028 <span class="keyword">const</span> <span class="keywordtype">double</span> t651 = 0.20e1 * t624 * v1x3;
<a name="l01029"></a>01029 <span class="keyword">const</span> <span class="keywordtype">double</span> t655 = 0.20e1 * t633 * v1x0;
<a name="l01030"></a>01030 <span class="keyword">const</span> <span class="keywordtype">double</span> t662 = 0.20e1 * t624 * v1x2;
<a name="l01031"></a>01031 <span class="keyword">const</span> <span class="keywordtype">double</span> t666 = 0.20e1 * t633 * v1x1;
<a name="l01032"></a>01032 <span class="keyword">const</span> <span class="keywordtype">double</span> t669 = t609 * t145;
<a name="l01033"></a>01033 <span class="keyword">const</span> <span class="keywordtype">double</span> t670 = t669 * t168;
<a name="l01034"></a>01034 <span class="keyword">const</span> <span class="keywordtype">double</span> t671 = -t605 * t147 + t670;
<a name="l01035"></a>01035 <span class="keyword">const</span> <span class="keywordtype">double</span> t677 = t617 * t147 / 0.2e1 - t669 * t459 / 0.2e1 - t610;
<a name="l01036"></a>01036 <span class="keyword">const</span> <span class="keywordtype">double</span> t678 = t677 * t75;
<a name="l01037"></a>01037 <span class="keyword">const</span> <span class="keywordtype">double</span> t684 = t605 * t27;
<a name="l01038"></a>01038 <span class="keyword">const</span> <span class="keywordtype">double</span> t685 = -t617 * t150 / 0.2e1 + t605 * t161 / 0.2e1 + t684;
<a name="l01039"></a>01039 <span class="keyword">const</span> <span class="keywordtype">double</span> t686 = t685 * t75;
<a name="l01040"></a>01040 <span class="keyword">const</span> <span class="keywordtype">double</span> t693 = -t605 * t178 / 0.2e1 + t669 * t193 / 0.2e1 + t610;
<a name="l01041"></a>01041 <span class="keyword">const</span> <span class="keywordtype">double</span> t696 = t617 * t178 - t670;
<a name="l01042"></a>01042 <span class="keyword">const</span> <span class="keywordtype">double</span> t697 = t696 * t75 / 0.2e1;
<a name="l01043"></a>01043 <span class="keyword">const</span> <span class="keywordtype">double</span> t701 = t617 * t27;
<a name="l01044"></a>01044 <span class="keyword">const</span> <span class="keywordtype">double</span> t704 = -t617 * t181 / 0.2e1 - t701 + t605 * t188 / 0.2e1;
<a name="l01045"></a>01045 <span class="keyword">const</span> <span class="keywordtype">double</span> t705 = t704 * t75;
<a name="l01046"></a>01046 <span class="keyword">const</span> <span class="keywordtype">double</span> t712 = -t605 * t202 / 0.2e1 - t684 + t669 * t186 / 0.2e1;
<a name="l01047"></a>01047 <span class="keyword">const</span> <span class="keywordtype">double</span> t718 = t617 * t202 / 0.2e1 + t701 - t669 * t157 / 0.2e1;
<a name="l01048"></a>01048 <span class="keyword">const</span> <span class="keywordtype">double</span> t719 = t718 * t75;
<a name="l01049"></a>01049 <span class="keyword">const</span> <span class="keywordtype">double</span> t723 = -t617 * t205 + t605 * t213;
<a name="l01050"></a>01050 <span class="keyword">const</span> <span class="keywordtype">double</span> t724 = t723 * t75 / 0.2e1;
<a name="l01051"></a>01051 <span class="keyword">const</span> <span class="keywordtype">double</span> t733 = t612 * t75;
<a name="l01052"></a>01052 <span class="keyword">const</span> <span class="keywordtype">double</span> t735 = 0.20e1 * t733 * v1x1;
<a name="l01053"></a>01053 <span class="keyword">const</span> <span class="keywordtype">double</span> t743 = 0.20e1 * t733 * v1x0;
<a name="l01054"></a>01054 <span class="keyword">const</span> <span class="keywordtype">double</span> t752 = 0.20e1 * t733 * v1x3;
<a name="l01055"></a>01055 <span class="keyword">const</span> <span class="keywordtype">double</span> t760 = 0.20e1 * t733 * v1x2;
<a name="l01056"></a>01056 <span class="keyword">const</span> <span class="keywordtype">double</span> t766 = t671 * t75 / 0.2e1;
<a name="l01057"></a>01057 <span class="keyword">const</span> <span class="keywordtype">double</span> t771 = t693 * t75;
<a name="l01058"></a>01058 <span class="keyword">const</span> <span class="keywordtype">double</span> t776 = t712 * t75;
<a name="l01059"></a>01059 cg[8*0 + 0] = -0.2e1 * t48 * t52 - 0.2e1 * t66 * t72 + t78 - 0.2e1 * t82 * t88 + t93;
<a name="l01060"></a>01060 cg[8*0 + 1] = t40 * t100 - 0.2e1 * t66 * t102 + t106 - 0.2e1 * t82 * t107 + t111;
<a name="l01061"></a>01061 cg[8*0 + 2] = t40 * t117 - 0.2e1 * t66 * t119 - t123 - 0.2e1 * t82 * t124 + t128;
<a name="l01062"></a>01062 cg[8*0 + 3] = -0.2e1 * t48 * t130 - 0.2e1 * t66 * t133 - t137 - 0.2e1 * t82 * t138 + t142;
<a name="l01063"></a>01063 cg[8*0 + 4] = t152 * t154 / 0.2e1 + t166 * t71 + t175 * t87;
<a name="l01064"></a>01064 cg[8*0 + 5] = t184 * t154 + t191 * t71 + t199 * t87;
<a name="l01065"></a>01065 cg[8*0 + 6] = t208 * t154 + t217 * t71 + t221 * t87;
<a name="l01066"></a>01066 cg[8*0 + 7] = t40 * t154 + t76 * t71 + t91 * t87;
<a name="l01067"></a>01067 cg[8*1 + 0] = -0.2e1 * t48 * t229 + t234 + t65 * t242 - 0.2e1 * t82 * t249 - t111;
<a name="l01068"></a>01068 cg[8*1 + 1] = -0.2e1 * t48 * t253 + t257 - 0.2e1 * t66 * t258 - 0.2e1 * t82 * t261 + t93;
<a name="l01069"></a>01069 cg[8*1 + 2] = -0.2e1 * t48 * t265 + t269 + t65 * t272 - 0.2e1 * t82 * t274 + t142;
<a name="l01070"></a>01070 cg[8*1 + 3] = -0.2e1 * t48 * t278 + t282 - 0.2e1 * t66 * t283 - 0.2e1 * t82 * t286 - t128;
<a name="l01071"></a>01071 cg[8*1 + 4] = t290 * t228 + t165 * t293 + t175 * t248;
<a name="l01072"></a>01072 cg[8*1 + 5] = t297 * t228 + t190 * t293 / 0.2e1 + t199 * t248;
<a name="l01073"></a>01073 cg[8*1 + 6] = t302 * t228 + t216 * t293 + t221 * t248;
<a name="l01074"></a>01074 cg[8*1 + 7] = t232 * t228 + t65 * t293 + t91 * t248;
<a name="l01075"></a>01075 cg[8*2 + 0] = -0.2e1 * t48 * t312 + t282 - 0.2e1 * t66 * t316 + t123 + t81 * t323;
<a name="l01076"></a>01076 cg[8*2 + 1] = -0.2e1 * t48 * t326 - t269 - 0.2e1 * t66 * t329 + t137 + t81 * t334;
<a name="l01077"></a>01077 cg[8*2 + 2] = -0.2e1 * t48 * t337 + t257 - 0.2e1 * t66 * t340 + t78 - 0.2e1 * t82 * t343;
<a name="l01078"></a>01078 cg[8*2 + 3] = -0.2e1 * t48 * t347 - t234 - 0.2e1 * t66 * t350 + t106 - 0.2e1 * t82 * t353;
<a name="l01079"></a>01079 cg[8*2 + 4] = t290 * t311 + t166 * t315 + t174 * t360;
<a name="l01080"></a>01080 cg[8*2 + 5] = t297 * t311 + t191 * t315 + t198 * t360;
<a name="l01081"></a>01081 cg[8*2 + 6] = t302 * t311 + t217 * t315 + t220 * t360 / 0.2e1;
<a name="l01082"></a>01082 cg[8*2 + 7] = t232 * t311 + t76 * t315 + t81 * t360;
<a name="l01083"></a>01083 cg[8*3 + 0] = -0.2e1 * t389 * t52 - 0.2e1 * t397 * t72 + t402 - 0.2e1 * t406 * t88 + t411;
<a name="l01084"></a>01084 cg[8*3 + 1] = t388 * t100 - 0.2e1 * t397 * t102 + t417 - 0.2e1 * t406 * t107 + t421;
<a name="l01085"></a>01085 cg[8*3 + 2] = t388 * t117 - 0.2e1 * t397 * t119 - t427 - 0.2e1 * t406 * t124 + t431;
<a name="l01086"></a>01086 cg[8*3 + 3] = -0.2e1 * t389 * t130 - 0.2e1 * t397 * t133 - t438 - 0.2e1 * t406 * t138 + t442;
<a name="l01087"></a>01087 cg[8*3 + 4] = t447 * t154 / 0.2e1 + t455 * t71 + t463 * t87;
<a name="l01088"></a>01088 cg[8*3 + 5] = t470 * t154 + t475 * t71 + t483 * t87;
<a name="l01089"></a>01089 cg[8*3 + 6] = t490 * t154 + t497 * t71 + t501 * t87;
<a name="l01090"></a>01090 cg[8*3 + 7] = t388 * t154 + t400 * t71 + t409 * t87;
<a name="l01091"></a>01091 cg[8*4 + 0] = -0.2e1 * t389 * t229 + t512 + t396 * t242 - 0.2e1 * t406 * t249 - t421;
<a name="l01092"></a>01092 cg[8*4 + 1] = -0.2e1 * t389 * t253 + t520 - 0.2e1 * t397 * t258 - 0.2e1 * t406 * t261 + t411;
<a name="l01093"></a>01093 cg[8*4 + 2] = -0.2e1 * t389 * t265 + t529 + t396 * t272 - 0.2e1 * t406 * t274 + t442;
<a name="l01094"></a>01094 cg[8*4 + 3] = -0.2e1 * t389 * t278 + t537 - 0.2e1 * t397 * t283 - 0.2e1 * t406 * t286 - t431;
<a name="l01095"></a>01095 cg[8*4 + 4] = t543 * t228 + t454 * t293 + t463 * t248;
<a name="l01096"></a>01096 cg[8*4 + 5] = t548 * t228 + t474 * t293 / 0.2e1 + t483 * t248;
<a name="l01097"></a>01097 cg[8*4 + 6] = t553 * t228 + t496 * t293 + t501 * t248;
<a name="l01098"></a>01098 cg[8*4 + 7] = t510 * t228 + t396 * t293 + t409 * t248;
<a name="l01099"></a>01099 cg[8*5 + 0] = -0.2e1 * t389 * t312 + t537 - 0.2e1 * t397 * t316 + t427 + t405 * t323;
<a name="l01100"></a>01100 cg[8*5 + 1] = -0.2e1 * t389 * t326 - t529 - 0.2e1 * t397 * t329 + t438 + t405 * t334;
<a name="l01101"></a>01101 cg[8*5 + 2] = -0.2e1 * t389 * t337 + t520 - 0.2e1 * t397 * t340 + t402 - 0.2e1 * t406 * t343;
<a name="l01102"></a>01102 cg[8*5 + 3] = -0.2e1 * t389 * t347 - t512 - 0.2e1 * t397 * t350 + t417 - 0.2e1 * t406 * t353;
<a name="l01103"></a>01103 cg[8*5 + 4] = t543 * t311 + t455 * t315 + t462 * t360;
<a name="l01104"></a>01104 cg[8*5 + 5] = t548 * t311 + t475 * t315 + t482 * t360;
<a name="l01105"></a>01105 cg[8*5 + 6] = t553 * t311 + t497 * t315 + t500 * t360 / 0.2e1;
<a name="l01106"></a>01106 cg[8*5 + 7] = t510 * t311 + t400 * t315 + t405 * t360;
<a name="l01107"></a>01107 cg[8*6 + 0] = -0.2e1 * t613 * t52 - 0.2e1 * t621 * t72 + t626 - 0.2e1 * t630 * t88 + t635;
<a name="l01108"></a>01108 cg[8*6 + 1] = t612 * t100 - 0.2e1 * t621 * t102 + t641 - 0.2e1 * t630 * t107 + t645;
<a name="l01109"></a>01109 cg[8*6 + 2] = t612 * t117 - 0.2e1 * t621 * t119 - t651 - 0.2e1 * t630 * t124 + t655;
<a name="l01110"></a>01110 cg[8*6 + 3] = -0.2e1 * t613 * t130 - 0.2e1 * t621 * t133 - t662 - 0.2e1 * t630 * t138 + t666;
<a name="l01111"></a>01111 cg[8*6 + 4] = t671 * t154 / 0.2e1 + t678 * t71 + t686 * t87;
<a name="l01112"></a>01112 cg[8*6 + 5] = t693 * t154 + t697 * t71 + t705 * t87;
<a name="l01113"></a>01113 cg[8*6 + 6] = t712 * t154 + t719 * t71 + t724 * t87;
<a name="l01114"></a>01114 cg[8*6 + 7] = t612 * t154 + t624 * t71 + t633 * t87;
<a name="l01115"></a>01115 cg[8*7 + 0] = -0.2e1 * t613 * t229 + t735 + t620 * t242 - 0.2e1 * t630 * t249 - t645;
<a name="l01116"></a>01116 cg[8*7 + 1] = -0.2e1 * t613 * t253 + t743 - 0.2e1 * t621 * t258 - 0.2e1 * t630 * t261 + t635;
<a name="l01117"></a>01117 cg[8*7 + 2] = -0.2e1 * t613 * t265 + t752 + t620 * t272 - 0.2e1 * t630 * t274 + t666;
<a name="l01118"></a>01118 cg[8*7 + 3] = -0.2e1 * t613 * t278 + t760 - 0.2e1 * t621 * t283 - 0.2e1 * t630 * t286 - t655;
<a name="l01119"></a>01119 cg[8*7 + 4] = t766 * t228 + t677 * t293 + t686 * t248;
<a name="l01120"></a>01120 cg[8*7 + 5] = t771 * t228 + t696 * t293 / 0.2e1 + t705 * t248;
<a name="l01121"></a>01121 cg[8*7 + 6] = t776 * t228 + t718 * t293 + t724 * t248;
<a name="l01122"></a>01122 cg[8*7 + 7] = t733 * t228 + t620 * t293 + t633 * t248;
<a name="l01123"></a>01123 cg[8*8 + 0] = -0.2e1 * t613 * t312 + t760 - 0.2e1 * t621 * t316 + t651 + t629 * t323;
<a name="l01124"></a>01124 cg[8*8 + 1] = -0.2e1 * t613 * t326 - t752 - 0.2e1 * t621 * t329 + t662 + t629 * t334;
<a name="l01125"></a>01125 cg[8*8 + 2] = -0.2e1 * t613 * t337 + t743 - 0.2e1 * t621 * t340 + t626 - 0.2e1 * t630 * t343;
<a name="l01126"></a>01126 cg[8*8 + 3] = -0.2e1 * t613 * t347 - t735 - 0.2e1 * t621 * t350 + t641 - 0.2e1 * t630 * t353;
<a name="l01127"></a>01127 cg[8*8 + 4] = t766 * t311 + t678 * t315 + t685 * t360;
<a name="l01128"></a>01128 cg[8*8 + 5] = t771 * t311 + t697 * t315 + t704 * t360;
<a name="l01129"></a>01129 cg[8*8 + 6] = t776 * t311 + t719 * t315 + t723 * t360 / 0.2e1;
<a name="l01130"></a>01130 cg[8*8 + 7] = t733 * t311 + t624 * t315 + t629 * t360;
<a name="l01131"></a>01131 }
<a name="l01132"></a>01132 
<a name="l01133"></a>01133 
<a name="l01134"></a>01134 <span class="comment">/*</span>
<a name="l01135"></a>01135 <span class="comment">###################</span>
<a name="l01136"></a>01136 <span class="comment"># Including modules with required functionality</span>
<a name="l01137"></a>01137 <span class="comment">#</span>
<a name="l01138"></a>01138 <span class="comment">with(VectorCalculus):</span>
<a name="l01139"></a>01139 <span class="comment">with(LinearAlgebra):</span>
<a name="l01140"></a>01140 <span class="comment"></span>
<a name="l01141"></a>01141 <span class="comment">###################</span>
<a name="l01142"></a>01142 <span class="comment"># Defining some projective algebra functions</span>
<a name="l01143"></a>01143 <span class="comment">#</span>
<a name="l01144"></a>01144 <span class="comment">Norm2 := v -&gt; sqrt(v(1)^2 + v(2)^2 + v(3)^2):</span>
<a name="l01145"></a>01145 <span class="comment">FromHomogeneous2D := p3D -&gt; Vector([p3D(1)/p3D(3), p3D(2)/p3D(3)]):</span>
<a name="l01146"></a>01146 <span class="comment">CrossProductMatrix := v -&gt; Matrix([[0, -v(3), v(2)], [v(3), 0, -v(1)], [-v(2), v(1), 0]]):</span>
<a name="l01147"></a>01147 <span class="comment">QuaternionToRotationMatrix := q -&gt;</span>
<a name="l01148"></a>01148 <span class="comment">        Matrix([[1,0,0],[0,1,0],[0,0,1]]) +</span>
<a name="l01149"></a>01149 <span class="comment">        (2.0 / (q(1)^2+q(2)^2+q(3)^2+q(4)^2)) *</span>
<a name="l01150"></a>01150 <span class="comment">        Matrix( [       [-q(2)*q(2)-q(3)*q(3), q(1)*q(2)-q(3)*q(4), q(3)*q(1)+q(2)*q(4)],</span>
<a name="l01151"></a>01151 <span class="comment">                        [q(1)*q(2)+q(3)*q(4), -q(3)*q(3)-q(1)*q(1), q(2)*q(3)-q(1)*q(4)],</span>
<a name="l01152"></a>01152 <span class="comment">                        [q(3)*q(1)-q(2)*q(4), q(2)*q(3)+q(1)*q(4), -q(2)*q(2)-q(1)*q(1)]</span>
<a name="l01153"></a>01153 <span class="comment">                ]):</span>
<a name="l01154"></a>01154 <span class="comment"></span>
<a name="l01155"></a>01155 <span class="comment">###################</span>
<a name="l01156"></a>01156 <span class="comment"># Epipolar expression.</span>
<a name="l01157"></a>01157 <span class="comment">#</span>
<a name="l01158"></a>01158 <span class="comment"># The essential matrix is expressed related to two cameras, defined by the vectors</span>
<a name="l01159"></a>01159 <span class="comment">#</span>
<a name="l01160"></a>01160 <span class="comment">#       [v1x0, v1x1, v1x2, v1x3, v1x4, v1x5, v1x6]</span>
<a name="l01161"></a>01161 <span class="comment">#</span>
<a name="l01162"></a>01162 <span class="comment">#       and</span>
<a name="l01163"></a>01163 <span class="comment">#</span>
<a name="l01164"></a>01164 <span class="comment">#       [v2x0, v2x1, v2x2, v2x3, v2x4, v2x5, v2x6]</span>
<a name="l01165"></a>01165 <span class="comment">#</span>
<a name="l01166"></a>01166 <span class="comment">R1 := QuaternionToRotationMatrix(Vector([v1x0, v1x1, v1x2, v1x3])):</span>
<a name="l01167"></a>01167 <span class="comment">R2 := QuaternionToRotationMatrix(Vector([v2x0, v2x1, v2x2, v2x3])):</span>
<a name="l01168"></a>01168 <span class="comment">c1 := Vector([v1x4, v1x5, v1x6]):</span>
<a name="l01169"></a>01169 <span class="comment">c2 := Vector([v2x4, v2x5, v2x6]):</span>
<a name="l01170"></a>01170 <span class="comment">E := R2.CrossProductMatrix( (c2-c1) / Norm2(c2-c1)).Transpose(R1):</span>
<a name="l01171"></a>01171 <span class="comment"></span>
<a name="l01172"></a>01172 <span class="comment">###################</span>
<a name="l01173"></a>01173 <span class="comment"># Vectorized expression of the essential matrix</span>
<a name="l01174"></a>01174 <span class="comment">#</span>
<a name="l01175"></a>01175 <span class="comment">vectorE := Vector([E(1,1), E(1,2), E(1,3), E(2,1), E(2,2), E(2,3), E(3,1), E(3,2), E(3,3)]):</span>
<a name="l01176"></a>01176 <span class="comment"></span>
<a name="l01177"></a>01177 <span class="comment">###################</span>
<a name="l01178"></a>01178 <span class="comment"># Epipolar evaluation and Jacobian matrices.</span>
<a name="l01179"></a>01179 <span class="comment"># This matrix contains the jacobians for each pair of cameras in the map,</span>
<a name="l01180"></a>01180 <span class="comment"># and the evaluation of the epipolar error function, for the cameras</span>
<a name="l01181"></a>01181 <span class="comment">#</span>
<a name="l01182"></a>01182 <span class="comment">M := Matrix([</span>
<a name="l01183"></a>01183 <span class="comment">[ diff(vectorE(1), v2x0), diff(vectorE(1), v2x1), diff(vectorE(1), v2x2), diff(vectorE(1), v2x3), diff(vectorE(1), v2x4), diff(vectorE(1), v2x5), diff(vectorE(1), v2x6), vectorE(1) ],</span>
<a name="l01184"></a>01184 <span class="comment">[ diff(vectorE(2), v2x0), diff(vectorE(2), v2x1), diff(vectorE(2), v2x2), diff(vectorE(2), v2x3), diff(vectorE(2), v2x4), diff(vectorE(2), v2x5), diff(vectorE(2), v2x6), vectorE(2) ],</span>
<a name="l01185"></a>01185 <span class="comment">[ diff(vectorE(3), v2x0), diff(vectorE(3), v2x1), diff(vectorE(3), v2x2), diff(vectorE(3), v2x3), diff(vectorE(3), v2x4), diff(vectorE(3), v2x5), diff(vectorE(3), v2x6), vectorE(3) ],</span>
<a name="l01186"></a>01186 <span class="comment">[ diff(vectorE(4), v2x0), diff(vectorE(4), v2x1), diff(vectorE(4), v2x2), diff(vectorE(4), v2x3), diff(vectorE(4), v2x4), diff(vectorE(4), v2x5), diff(vectorE(4), v2x6), vectorE(4) ],</span>
<a name="l01187"></a>01187 <span class="comment">[ diff(vectorE(5), v2x0), diff(vectorE(5), v2x1), diff(vectorE(5), v2x2), diff(vectorE(5), v2x3), diff(vectorE(5), v2x4), diff(vectorE(5), v2x5), diff(vectorE(5), v2x6), vectorE(5) ],</span>
<a name="l01188"></a>01188 <span class="comment">[ diff(vectorE(6), v2x0), diff(vectorE(6), v2x1), diff(vectorE(6), v2x2), diff(vectorE(6), v2x3), diff(vectorE(6), v2x4), diff(vectorE(6), v2x5), diff(vectorE(6), v2x6), vectorE(6) ],</span>
<a name="l01189"></a>01189 <span class="comment">[ diff(vectorE(7), v2x0), diff(vectorE(7), v2x1), diff(vectorE(7), v2x2), diff(vectorE(7), v2x3), diff(vectorE(7), v2x4), diff(vectorE(7), v2x5), diff(vectorE(7), v2x6), vectorE(7) ],</span>
<a name="l01190"></a>01190 <span class="comment">[ diff(vectorE(8), v2x0), diff(vectorE(8), v2x1), diff(vectorE(8), v2x2), diff(vectorE(8), v2x3), diff(vectorE(8), v2x4), diff(vectorE(8), v2x5), diff(vectorE(8), v2x6), vectorE(8) ],</span>
<a name="l01191"></a>01191 <span class="comment">[ diff(vectorE(9), v2x0), diff(vectorE(9), v2x1), diff(vectorE(9), v2x2), diff(vectorE(9), v2x3), diff(vectorE(9), v2x4), diff(vectorE(9), v2x5), diff(vectorE(9), v2x6), vectorE(9) ]</span>
<a name="l01192"></a>01192 <span class="comment">]):</span>
<a name="l01193"></a>01193 <span class="comment"></span>
<a name="l01194"></a>01194 <span class="comment">###################</span>
<a name="l01195"></a>01195 <span class="comment"># Display the C code to evaluate the previous matrix</span>
<a name="l01196"></a>01196 <span class="comment">#</span>
<a name="l01197"></a>01197 <span class="comment">CodeGeneration[C](M, optimize = true);</span>
<a name="l01198"></a>01198 <span class="comment">*/</span>
<a name="l01199"></a>01199 <span class="keywordtype">void</span> partialRightQuaternionEssentialEvaluation(<span class="keyword">const</span> <span class="keywordtype">double</span> *pose1, <span class="keyword">const</span> <span class="keywordtype">double</span> *pose2, <span class="keywordtype">double</span> *cg)
<a name="l01200"></a>01200 {
<a name="l01201"></a>01201 <span class="keyword">const</span> <span class="keywordtype">double</span>    
<a name="l01202"></a>01202                 v1x0 = pose1[0],
<a name="l01203"></a>01203                 v1x1 = pose1[1],
<a name="l01204"></a>01204                 v1x2 = pose1[2],
<a name="l01205"></a>01205                 v1x3 = pose1[3],
<a name="l01206"></a>01206                 v1x4 = pose1[4],
<a name="l01207"></a>01207                 v1x5 = pose1[5],
<a name="l01208"></a>01208                 v1x6 = pose1[6];
<a name="l01209"></a>01209 
<a name="l01210"></a>01210 <span class="keyword">const</span> <span class="keywordtype">double</span>    
<a name="l01211"></a>01211                 v2x0 = pose2[0],
<a name="l01212"></a>01212                 v2x1 = pose2[1],
<a name="l01213"></a>01213                 v2x2 = pose2[2],
<a name="l01214"></a>01214                 v2x3 = pose2[3],
<a name="l01215"></a>01215                 v2x4 = pose2[4],
<a name="l01216"></a>01216                 v2x5 = pose2[5],
<a name="l01217"></a>01217                 v2x6 = pose2[6];
<a name="l01218"></a>01218 
<a name="l01219"></a>01219 <span class="keyword">const</span> <span class="keywordtype">double</span> t1 = v2x0 * v2x0;
<a name="l01220"></a>01220 <span class="keyword">const</span> <span class="keywordtype">double</span> t2 = v2x1 * v2x1;
<a name="l01221"></a>01221 <span class="keyword">const</span> <span class="keywordtype">double</span> t3 = v2x2 * v2x2;
<a name="l01222"></a>01222 <span class="keyword">const</span> <span class="keywordtype">double</span> t4 = v2x3 * v2x3;
<a name="l01223"></a>01223 <span class="keyword">const</span> <span class="keywordtype">double</span> t5 = t1 + t2 + t3 + t4;
<a name="l01224"></a>01224 <span class="keyword">const</span> <span class="keywordtype">double</span> t6 = t5 * t5;
<a name="l01225"></a>01225 <span class="keyword">const</span> <span class="keywordtype">double</span> t7 = 0.1e1 / t6;
<a name="l01226"></a>01226 <span class="keyword">const</span> <span class="keywordtype">double</span> t9 = 0.20e1 * v2x0 * v2x1;
<a name="l01227"></a>01227 <span class="keyword">const</span> <span class="keywordtype">double</span> t11 = 0.20e1 * v2x2 * v2x3;
<a name="l01228"></a>01228 <span class="keyword">const</span> <span class="keywordtype">double</span> t12 = t9 - t11;
<a name="l01229"></a>01229 <span class="keyword">const</span> <span class="keywordtype">double</span> t13 = t7 * t12;
<a name="l01230"></a>01230 <span class="keyword">const</span> <span class="keywordtype">double</span> t14 =  ( v2x4 *  v2x4);
<a name="l01231"></a>01231 <span class="keyword">const</span> <span class="keywordtype">double</span> t17 =  ( v1x4 *  v1x4);
<a name="l01232"></a>01232 <span class="keyword">const</span> <span class="keywordtype">double</span> t18 =  ( v2x5 *  v2x5);
<a name="l01233"></a>01233 <span class="keyword">const</span> <span class="keywordtype">double</span> t21 =  ( v1x5 *  v1x5);
<a name="l01234"></a>01234 <span class="keyword">const</span> <span class="keywordtype">double</span> t22 =  ( v2x6 *  v2x6);
<a name="l01235"></a>01235 <span class="keyword">const</span> <span class="keywordtype">double</span> t25 =  ( v1x6 *  v1x6);
<a name="l01236"></a>01236 <span class="keyword">const</span> <span class="keywordtype">double</span> t26 = t14 - 2 * v2x4 * v1x4 + t17 + t18 - 2 * v2x5 * v1x5 + t21 + t22 - 2 * v2x6 * v1x6 + t25;
<a name="l01237"></a>01237 <span class="keyword">const</span> <span class="keywordtype">double</span> t27 = sqrt( t26);
<a name="l01238"></a>01238 <span class="keyword">const</span> <span class="keywordtype">double</span> t28 = 0.1e1 / t27;
<a name="l01239"></a>01239 <span class="keyword">const</span> <span class="keywordtype">double</span> t29 = v2x6 - v1x6;
<a name="l01240"></a>01240 <span class="keyword">const</span> <span class="keywordtype">double</span> t30 = t28 *  t29;
<a name="l01241"></a>01241 <span class="keyword">const</span> <span class="keywordtype">double</span> t31 = t30 * v2x0;
<a name="l01242"></a>01242 <span class="keyword">const</span> <span class="keywordtype">double</span> t34 = 0.1e1 / t5;
<a name="l01243"></a>01243 <span class="keyword">const</span> <span class="keywordtype">double</span> t35 = t34 * v2x1;
<a name="l01244"></a>01244 <span class="keyword">const</span> <span class="keywordtype">double</span> t37 = 0.20e1 * t35 * t30;
<a name="l01245"></a>01245 <span class="keyword">const</span> <span class="keywordtype">double</span> t39 = 0.20e1 * v2x2 * v2x0;
<a name="l01246"></a>01246 <span class="keyword">const</span> <span class="keywordtype">double</span> t41 = 0.20e1 * v2x1 * v2x3;
<a name="l01247"></a>01247 <span class="keyword">const</span> <span class="keywordtype">double</span> t42 = t39 + t41;
<a name="l01248"></a>01248 <span class="keyword">const</span> <span class="keywordtype">double</span> t43 = t7 * t42;
<a name="l01249"></a>01249 <span class="keyword">const</span> <span class="keywordtype">double</span> t44 = v2x5 - v1x5;
<a name="l01250"></a>01250 <span class="keyword">const</span> <span class="keywordtype">double</span> t45 = t28 *  t44;
<a name="l01251"></a>01251 <span class="keyword">const</span> <span class="keywordtype">double</span> t46 = t45 * v2x0;
<a name="l01252"></a>01252 <span class="keyword">const</span> <span class="keywordtype">double</span> t49 = t34 * v2x2;
<a name="l01253"></a>01253 <span class="keyword">const</span> <span class="keywordtype">double</span> t51 = 0.20e1 * t49 * t45;
<a name="l01254"></a>01254 <span class="keyword">const</span> <span class="keywordtype">double</span> t52 = -0.2e1 * t13 * t31 + t37 + 0.2e1 * t43 * t46 - t51;
<a name="l01255"></a>01255 <span class="keyword">const</span> <span class="keywordtype">double</span> t53 = v1x0 * v1x0;
<a name="l01256"></a>01256 <span class="keyword">const</span> <span class="keywordtype">double</span> t54 = v1x1 * v1x1;
<a name="l01257"></a>01257 <span class="keyword">const</span> <span class="keywordtype">double</span> t55 = v1x2 * v1x2;
<a name="l01258"></a>01258 <span class="keyword">const</span> <span class="keywordtype">double</span> t56 = v1x3 * v1x3;
<a name="l01259"></a>01259 <span class="keyword">const</span> <span class="keywordtype">double</span> t58 = 0.1e1 / (t53 + t54 + t55 + t56);
<a name="l01260"></a>01260 <span class="keyword">const</span> <span class="keywordtype">double</span> t59 = 0.20e1 * t54;
<a name="l01261"></a>01261 <span class="keyword">const</span> <span class="keywordtype">double</span> t60 = 0.20e1 * t55;
<a name="l01262"></a>01262 <span class="keyword">const</span> <span class="keywordtype">double</span> t63 = 0.1e1 + t58 * (-t59 - t60);
<a name="l01263"></a>01263 <span class="keyword">const</span> <span class="keywordtype">double</span> t65 = 0.20e1 * t2;
<a name="l01264"></a>01264 <span class="keyword">const</span> <span class="keywordtype">double</span> t66 = 0.20e1 * t3;
<a name="l01265"></a>01265 <span class="keyword">const</span> <span class="keywordtype">double</span> t67 = -t65 - t66;
<a name="l01266"></a>01266 <span class="keyword">const</span> <span class="keywordtype">double</span> t68 = t7 * t67;
<a name="l01267"></a>01267 <span class="keyword">const</span> <span class="keywordtype">double</span> t71 = v2x4 - v1x4;
<a name="l01268"></a>01268 <span class="keyword">const</span> <span class="keywordtype">double</span> t72 = t28 *  t71;
<a name="l01269"></a>01269 <span class="keyword">const</span> <span class="keywordtype">double</span> t73 = t72 * v2x0;
<a name="l01270"></a>01270 <span class="keyword">const</span> <span class="keywordtype">double</span> t77 = 0.20e1 * t49 * t72;
<a name="l01271"></a>01271 <span class="keyword">const</span> <span class="keywordtype">double</span> t78 = 0.2e1 * t68 * t31 - 0.2e1 * t43 * t73 + t77;
<a name="l01272"></a>01272 <span class="keyword">const</span> <span class="keywordtype">double</span> t79 = t78 * t58;
<a name="l01273"></a>01273 <span class="keyword">const</span> <span class="keywordtype">double</span> t81 = 0.20e1 * v1x0 * v1x1;
<a name="l01274"></a>01274 <span class="keyword">const</span> <span class="keywordtype">double</span> t83 = 0.20e1 * v1x2 * v1x3;
<a name="l01275"></a>01275 <span class="keyword">const</span> <span class="keywordtype">double</span> t84 = t81 - t83;
<a name="l01276"></a>01276 <span class="keyword">const</span> <span class="keywordtype">double</span> t91 = 0.20e1 * t35 * t72;
<a name="l01277"></a>01277 <span class="keyword">const</span> <span class="keywordtype">double</span> t92 = -0.2e1 * t68 * t46 + 0.2e1 * t13 * t73 - t91;
<a name="l01278"></a>01278 <span class="keyword">const</span> <span class="keywordtype">double</span> t93 = t92 * t58;
<a name="l01279"></a>01279 <span class="keyword">const</span> <span class="keywordtype">double</span> t95 = 0.20e1 * v1x2 * v1x0;
<a name="l01280"></a>01280 <span class="keyword">const</span> <span class="keywordtype">double</span> t97 = 0.20e1 * v1x1 * v1x3;
<a name="l01281"></a>01281 <span class="keyword">const</span> <span class="keywordtype">double</span> t98 = t95 + t97;
<a name="l01282"></a>01282 <span class="keyword">const</span> <span class="keywordtype">double</span> t101 = t30 * v2x1;
<a name="l01283"></a>01283 <span class="keyword">const</span> <span class="keywordtype">double</span> t104 = t34 * v2x0;
<a name="l01284"></a>01284 <span class="keyword">const</span> <span class="keywordtype">double</span> t106 = 0.20e1 * t104 * t30;
<a name="l01285"></a>01285 <span class="keyword">const</span> <span class="keywordtype">double</span> t107 = t45 * v2x1;
<a name="l01286"></a>01286 <span class="keyword">const</span> <span class="keywordtype">double</span> t110 = t34 * v2x3;
<a name="l01287"></a>01287 <span class="keyword">const</span> <span class="keywordtype">double</span> t112 = 0.20e1 * t110 * t45;
<a name="l01288"></a>01288 <span class="keyword">const</span> <span class="keywordtype">double</span> t113 = -0.2e1 * t13 * t101 + t106 + 0.2e1 * t43 * t107 - t112;
<a name="l01289"></a>01289 <span class="keyword">const</span> <span class="keywordtype">double</span> t117 = 0.40e1 * t35;
<a name="l01290"></a>01290 <span class="keyword">const</span> <span class="keywordtype">double</span> t119 = (-0.2e1 * t68 * v2x1 - t117) * t28;
<a name="l01291"></a>01291 <span class="keyword">const</span> <span class="keywordtype">double</span> t121 = t72 * v2x1;
<a name="l01292"></a>01292 <span class="keyword">const</span> <span class="keywordtype">double</span> t125 = 0.20e1 * t110 * t72;
<a name="l01293"></a>01293 <span class="keyword">const</span> <span class="keywordtype">double</span> t126 = -t119 *  t29 - 0.2e1 * t43 * t121 + t125;
<a name="l01294"></a>01294 <span class="keyword">const</span> <span class="keywordtype">double</span> t127 = t126 * t58;
<a name="l01295"></a>01295 <span class="keyword">const</span> <span class="keywordtype">double</span> t133 = 0.20e1 * t104 * t72;
<a name="l01296"></a>01296 <span class="keyword">const</span> <span class="keywordtype">double</span> t134 = t119 *  t44 + 0.2e1 * t13 * t121 - t133;
<a name="l01297"></a>01297 <span class="keyword">const</span> <span class="keywordtype">double</span> t135 = t134 * t58;
<a name="l01298"></a>01298 <span class="keyword">const</span> <span class="keywordtype">double</span> t138 = t30 * v2x2;
<a name="l01299"></a>01299 <span class="keyword">const</span> <span class="keywordtype">double</span> t142 = 0.20e1 * t110 * t30;
<a name="l01300"></a>01300 <span class="keyword">const</span> <span class="keywordtype">double</span> t143 = t45 * v2x2;
<a name="l01301"></a>01301 <span class="keyword">const</span> <span class="keywordtype">double</span> t147 = 0.20e1 * t104 * t45;
<a name="l01302"></a>01302 <span class="keyword">const</span> <span class="keywordtype">double</span> t148 = -0.2e1 * t13 * t138 - t142 + 0.2e1 * t43 * t143 - t147;
<a name="l01303"></a>01303 <span class="keyword">const</span> <span class="keywordtype">double</span> t152 = 0.40e1 * t49;
<a name="l01304"></a>01304 <span class="keyword">const</span> <span class="keywordtype">double</span> t154 = (-0.2e1 * t68 * v2x2 - t152) * t28;
<a name="l01305"></a>01305 <span class="keyword">const</span> <span class="keywordtype">double</span> t156 = t72 * v2x2;
<a name="l01306"></a>01306 <span class="keyword">const</span> <span class="keywordtype">double</span> t159 = -t154 *  t29 - 0.2e1 * t43 * t156 + t133;
<a name="l01307"></a>01307 <span class="keyword">const</span> <span class="keywordtype">double</span> t160 = t159 * t58;
<a name="l01308"></a>01308 <span class="keyword">const</span> <span class="keywordtype">double</span> t165 = t154 *  t44 + 0.2e1 * t13 * t156 + t125;
<a name="l01309"></a>01309 <span class="keyword">const</span> <span class="keywordtype">double</span> t166 = t165 * t58;
<a name="l01310"></a>01310 <span class="keyword">const</span> <span class="keywordtype">double</span> t169 = t30 * v2x3;
<a name="l01311"></a>01311 <span class="keyword">const</span> <span class="keywordtype">double</span> t173 = 0.20e1 * t49 * t30;
<a name="l01312"></a>01312 <span class="keyword">const</span> <span class="keywordtype">double</span> t174 = t45 * v2x3;
<a name="l01313"></a>01313 <span class="keyword">const</span> <span class="keywordtype">double</span> t178 = 0.20e1 * t35 * t45;
<a name="l01314"></a>01314 <span class="keyword">const</span> <span class="keywordtype">double</span> t179 = -0.2e1 * t13 * t169 - t173 + 0.2e1 * t43 * t174 - t178;
<a name="l01315"></a>01315 <span class="keyword">const</span> <span class="keywordtype">double</span> t183 = t72 * v2x3;
<a name="l01316"></a>01316 <span class="keyword">const</span> <span class="keywordtype">double</span> t186 = 0.2e1 * t68 * t169 - 0.2e1 * t43 * t183 + t91;
<a name="l01317"></a>01317 <span class="keyword">const</span> <span class="keywordtype">double</span> t187 = t186 * t58;
<a name="l01318"></a>01318 <span class="keyword">const</span> <span class="keywordtype">double</span> t193 = -0.2e1 * t68 * t174 + 0.2e1 * t13 * t183 + t77;
<a name="l01319"></a>01319 <span class="keyword">const</span> <span class="keywordtype">double</span> t194 = t193 * t58;
<a name="l01320"></a>01320 <span class="keyword">const</span> <span class="keywordtype">double</span> t197 = t34 * t12;
<a name="l01321"></a>01321 <span class="keyword">const</span> <span class="keywordtype">double</span> t199 = 0.1e1 / t27 /  t26;
<a name="l01322"></a>01322 <span class="keyword">const</span> <span class="keywordtype">double</span> t200 = t199 *  t29;
<a name="l01323"></a>01323 <span class="keyword">const</span> <span class="keywordtype">double</span> t201 = 0.2e1 * t200 *  t71;
<a name="l01324"></a>01324 <span class="keyword">const</span> <span class="keywordtype">double</span> t203 = t34 * t42;
<a name="l01325"></a>01325 <span class="keyword">const</span> <span class="keywordtype">double</span> t204 = t199 *  t44;
<a name="l01326"></a>01326 <span class="keyword">const</span> <span class="keywordtype">double</span> t205 = 0.2e1 * t204 *  t71;
<a name="l01327"></a>01327 <span class="keyword">const</span> <span class="keywordtype">double</span> t207 = -t197 * t201 + t203 * t205;
<a name="l01328"></a>01328 <span class="keyword">const</span> <span class="keywordtype">double</span> t210 = 0.1e1 + t34 * t67;
<a name="l01329"></a>01329 <span class="keyword">const</span> <span class="keywordtype">double</span> t211 = t210 * t199;
<a name="l01330"></a>01330 <span class="keyword">const</span> <span class="keywordtype">double</span> t212 = 2 * t29 * t71;
<a name="l01331"></a>01331 <span class="keyword">const</span> <span class="keywordtype">double</span> t215 = t199 *  t71;
<a name="l01332"></a>01332 <span class="keyword">const</span> <span class="keywordtype">double</span> t216 = 0.2e1 * t215 *  t71;
<a name="l01333"></a>01333 <span class="keyword">const</span> <span class="keywordtype">double</span> t219 = t203 * t28;
<a name="l01334"></a>01334 <span class="keyword">const</span> <span class="keywordtype">double</span> t220 = t211 *  t212 / 0.2e1 - t203 * t216 / 0.2e1 + t219;
<a name="l01335"></a>01335 <span class="keyword">const</span> <span class="keywordtype">double</span> t221 = t220 * t58;
<a name="l01336"></a>01336 <span class="keyword">const</span> <span class="keywordtype">double</span> t223 = 2 * t44 * t71;
<a name="l01337"></a>01337 <span class="keyword">const</span> <span class="keywordtype">double</span> t228 = t197 * t28;
<a name="l01338"></a>01338 <span class="keyword">const</span> <span class="keywordtype">double</span> t229 = -t211 *  t223 / 0.2e1 + t197 * t216 / 0.2e1 - t228;
<a name="l01339"></a>01339 <span class="keyword">const</span> <span class="keywordtype">double</span> t230 = t229 * t58;
<a name="l01340"></a>01340 <span class="keyword">const</span> <span class="keywordtype">double</span> t233 = 0.2e1 * t200 *  t44;
<a name="l01341"></a>01341 <span class="keyword">const</span> <span class="keywordtype">double</span> t236 = 0.2e1 * t204 *  t44;
<a name="l01342"></a>01342 <span class="keyword">const</span> <span class="keywordtype">double</span> t239 = -t197 * t233 / 0.2e1 + t203 * t236 / 0.2e1 - t219;
<a name="l01343"></a>01343 <span class="keyword">const</span> <span class="keywordtype">double</span> t241 = 2 * t29 * t44;
<a name="l01344"></a>01344 <span class="keyword">const</span> <span class="keywordtype">double</span> t242 = t211 *  t241;
<a name="l01345"></a>01345 <span class="keyword">const</span> <span class="keywordtype">double</span> t243 = 0.2e1 * t215 *  t44;
<a name="l01346"></a>01346 <span class="keyword">const</span> <span class="keywordtype">double</span> t245 = t242 - t203 * t243;
<a name="l01347"></a>01347 <span class="keyword">const</span> <span class="keywordtype">double</span> t246 = t245 * t58 / 0.2e1;
<a name="l01348"></a>01348 <span class="keyword">const</span> <span class="keywordtype">double</span> t248 = 2 * t44 * t44;
<a name="l01349"></a>01349 <span class="keyword">const</span> <span class="keywordtype">double</span> t251 = t210 * t28;
<a name="l01350"></a>01350 <span class="keyword">const</span> <span class="keywordtype">double</span> t254 = -t211 *  t248 / 0.2e1 + t251 + t197 * t243 / 0.2e1;
<a name="l01351"></a>01351 <span class="keyword">const</span> <span class="keywordtype">double</span> t255 = t254 * t58;
<a name="l01352"></a>01352 <span class="keyword">const</span> <span class="keywordtype">double</span> t258 = 0.2e1 * t200 *  t29;
<a name="l01353"></a>01353 <span class="keyword">const</span> <span class="keywordtype">double</span> t261 = 0.2e1 * t204 *  t29;
<a name="l01354"></a>01354 <span class="keyword">const</span> <span class="keywordtype">double</span> t264 = -t197 * t258 / 0.2e1 + t228 + t203 * t261 / 0.2e1;
<a name="l01355"></a>01355 <span class="keyword">const</span> <span class="keywordtype">double</span> t266 = 2 * t29 * t29;
<a name="l01356"></a>01356 <span class="keyword">const</span> <span class="keywordtype">double</span> t269 = 0.2e1 * t215 *  t29;
<a name="l01357"></a>01357 <span class="keyword">const</span> <span class="keywordtype">double</span> t272 = t211 *  t266 / 0.2e1 - t251 - t203 * t269 / 0.2e1;
<a name="l01358"></a>01358 <span class="keyword">const</span> <span class="keywordtype">double</span> t273 = t272 * t58;
<a name="l01359"></a>01359 <span class="keyword">const</span> <span class="keywordtype">double</span> t276 = -t242 + t197 * t269;
<a name="l01360"></a>01360 <span class="keyword">const</span> <span class="keywordtype">double</span> t277 = t276 * t58 / 0.2e1;
<a name="l01361"></a>01361 <span class="keyword">const</span> <span class="keywordtype">double</span> t282 = t197 * t30 - t203 * t45;
<a name="l01362"></a>01362 <span class="keyword">const</span> <span class="keywordtype">double</span> t286 = -t251 *  t29 + t203 * t72;
<a name="l01363"></a>01363 <span class="keyword">const</span> <span class="keywordtype">double</span> t287 = t286 * t58;
<a name="l01364"></a>01364 <span class="keyword">const</span> <span class="keywordtype">double</span> t291 = t251 *  t44 - t197 * t72;
<a name="l01365"></a>01365 <span class="keyword">const</span> <span class="keywordtype">double</span> t292 = t291 * t58;
<a name="l01366"></a>01366 <span class="keyword">const</span> <span class="keywordtype">double</span> t295 = t52 * t58;
<a name="l01367"></a>01367 <span class="keyword">const</span> <span class="keywordtype">double</span> t296 = t81 + t83;
<a name="l01368"></a>01368 <span class="keyword">const</span> <span class="keywordtype">double</span> t298 = 0.20e1 * t53;
<a name="l01369"></a>01369 <span class="keyword">const</span> <span class="keywordtype">double</span> t301 = 0.1e1 + t58 * (-t60 - t298);
<a name="l01370"></a>01370 <span class="keyword">const</span> <span class="keywordtype">double</span> t304 = 0.20e1 * v1x1 * v1x2;
<a name="l01371"></a>01371 <span class="keyword">const</span> <span class="keywordtype">double</span> t306 = 0.20e1 * v1x0 * v1x3;
<a name="l01372"></a>01372 <span class="keyword">const</span> <span class="keywordtype">double</span> t307 = t304 - t306;
<a name="l01373"></a>01373 <span class="keyword">const</span> <span class="keywordtype">double</span> t310 = t113 * t58;
<a name="l01374"></a>01374 <span class="keyword">const</span> <span class="keywordtype">double</span> t315 = t148 * t58;
<a name="l01375"></a>01375 <span class="keyword">const</span> <span class="keywordtype">double</span> t320 = t179 * t58;
<a name="l01376"></a>01376 <span class="keyword">const</span> <span class="keywordtype">double</span> t325 = t207 * t58 / 0.2e1;
<a name="l01377"></a>01377 <span class="keyword">const</span> <span class="keywordtype">double</span> t330 = t239 * t58;
<a name="l01378"></a>01378 <span class="keyword">const</span> <span class="keywordtype">double</span> t335 = t264 * t58;
<a name="l01379"></a>01379 <span class="keyword">const</span> <span class="keywordtype">double</span> t340 = t282 * t58;
<a name="l01380"></a>01380 <span class="keyword">const</span> <span class="keywordtype">double</span> t345 = t95 - t97;
<a name="l01381"></a>01381 <span class="keyword">const</span> <span class="keywordtype">double</span> t347 = t304 + t306;
<a name="l01382"></a>01382 <span class="keyword">const</span> <span class="keywordtype">double</span> t351 = 0.1e1 + t58 * (-t59 - t298);
<a name="l01383"></a>01383 <span class="keyword">const</span> <span class="keywordtype">double</span> t382 = 0.20e1 * t1;
<a name="l01384"></a>01384 <span class="keyword">const</span> <span class="keywordtype">double</span> t383 = -t66 - t382;
<a name="l01385"></a>01385 <span class="keyword">const</span> <span class="keywordtype">double</span> t384 = t7 * t383;
<a name="l01386"></a>01386 <span class="keyword">const</span> <span class="keywordtype">double</span> t387 = 0.40e1 * t104;
<a name="l01387"></a>01387 <span class="keyword">const</span> <span class="keywordtype">double</span> t389 = (-0.2e1 * t384 * v2x0 - t387) * t28;
<a name="l01388"></a>01388 <span class="keyword">const</span> <span class="keywordtype">double</span> t392 = 0.20e1 * v2x1 * v2x2;
<a name="l01389"></a>01389 <span class="keyword">const</span> <span class="keywordtype">double</span> t394 = 0.20e1 * v2x0 * v2x3;
<a name="l01390"></a>01390 <span class="keyword">const</span> <span class="keywordtype">double</span> t395 = t392 - t394;
<a name="l01391"></a>01391 <span class="keyword">const</span> <span class="keywordtype">double</span> t396 = t7 * t395;
<a name="l01392"></a>01392 <span class="keyword">const</span> <span class="keywordtype">double</span> t399 = t389 *  t29 + 0.2e1 * t396 * t46 + t112;
<a name="l01393"></a>01393 <span class="keyword">const</span> <span class="keywordtype">double</span> t401 = t9 + t11;
<a name="l01394"></a>01394 <span class="keyword">const</span> <span class="keywordtype">double</span> t402 = t7 * t401;
<a name="l01395"></a>01395 <span class="keyword">const</span> <span class="keywordtype">double</span> t407 = 0.2e1 * t402 * t31 - t37 - 0.2e1 * t396 * t73 - t125;
<a name="l01396"></a>01396 <span class="keyword">const</span> <span class="keywordtype">double</span> t408 = t407 * t58;
<a name="l01397"></a>01397 <span class="keyword">const</span> <span class="keywordtype">double</span> t413 = -0.2e1 * t402 * t46 + t178 - t389 *  t71;
<a name="l01398"></a>01398 <span class="keyword">const</span> <span class="keywordtype">double</span> t414 = t413 * t58;
<a name="l01399"></a>01399 <span class="keyword">const</span> <span class="keywordtype">double</span> t421 = -0.2e1 * t384 * t101 + 0.2e1 * t396 * t107 - t51;
<a name="l01400"></a>01400 <span class="keyword">const</span> <span class="keywordtype">double</span> t427 = 0.2e1 * t402 * t101 - t106 - 0.2e1 * t396 * t121 + t77;
<a name="l01401"></a>01401 <span class="keyword">const</span> <span class="keywordtype">double</span> t428 = t427 * t58;
<a name="l01402"></a>01402 <span class="keyword">const</span> <span class="keywordtype">double</span> t434 = -0.2e1 * t402 * t107 + t147 + 0.2e1 * t384 * t121;
<a name="l01403"></a>01403 <span class="keyword">const</span> <span class="keywordtype">double</span> t435 = t434 * t58;
<a name="l01404"></a>01404 <span class="keyword">const</span> <span class="keywordtype">double</span> t441 = (-0.2e1 * t384 * v2x2 - t152) * t28;
<a name="l01405"></a>01405 <span class="keyword">const</span> <span class="keywordtype">double</span> t445 = t441 *  t29 + 0.2e1 * t396 * t143 - t178;
<a name="l01406"></a>01406 <span class="keyword">const</span> <span class="keywordtype">double</span> t451 = 0.2e1 * t402 * t138 - t142 - 0.2e1 * t396 * t156 + t91;
<a name="l01407"></a>01407 <span class="keyword">const</span> <span class="keywordtype">double</span> t452 = t451 * t58;
<a name="l01408"></a>01408 <span class="keyword">const</span> <span class="keywordtype">double</span> t457 = -0.2e1 * t402 * t143 + t112 - t441 *  t71;
<a name="l01409"></a>01409 <span class="keyword">const</span> <span class="keywordtype">double</span> t458 = t457 * t58;
<a name="l01410"></a>01410 <span class="keyword">const</span> <span class="keywordtype">double</span> t465 = -0.2e1 * t384 * t169 + 0.2e1 * t396 * t174 + t147;
<a name="l01411"></a>01411 <span class="keyword">const</span> <span class="keywordtype">double</span> t471 = 0.2e1 * t402 * t169 - t173 - 0.2e1 * t396 * t183 - t133;
<a name="l01412"></a>01412 <span class="keyword">const</span> <span class="keywordtype">double</span> t472 = t471 * t58;
<a name="l01413"></a>01413 <span class="keyword">const</span> <span class="keywordtype">double</span> t478 = -0.2e1 * t402 * t174 + t51 + 0.2e1 * t384 * t183;
<a name="l01414"></a>01414 <span class="keyword">const</span> <span class="keywordtype">double</span> t479 = t478 * t58;
<a name="l01415"></a>01415 <span class="keyword">const</span> <span class="keywordtype">double</span> t483 = 0.1e1 + t34 * t383;
<a name="l01416"></a>01416 <span class="keyword">const</span> <span class="keywordtype">double</span> t484 = t483 * t199;
<a name="l01417"></a>01417 <span class="keyword">const</span> <span class="keywordtype">double</span> t485 = t484 *  t212;
<a name="l01418"></a>01418 <span class="keyword">const</span> <span class="keywordtype">double</span> t486 = t34 * t395;
<a name="l01419"></a>01419 <span class="keyword">const</span> <span class="keywordtype">double</span> t488 = -t485 + t486 * t205;
<a name="l01420"></a>01420 <span class="keyword">const</span> <span class="keywordtype">double</span> t490 = t34 * t401;
<a name="l01421"></a>01421 <span class="keyword">const</span> <span class="keywordtype">double</span> t495 = t486 * t28;
<a name="l01422"></a>01422 <span class="keyword">const</span> <span class="keywordtype">double</span> t496 = t490 * t201 / 0.2e1 - t486 * t216 / 0.2e1 + t495;
<a name="l01423"></a>01423 <span class="keyword">const</span> <span class="keywordtype">double</span> t497 = t496 * t58;
<a name="l01424"></a>01424 <span class="keyword">const</span> <span class="keywordtype">double</span> t501 = 2 * t71 * t71;
<a name="l01425"></a>01425 <span class="keyword">const</span> <span class="keywordtype">double</span> t504 = t483 * t28;
<a name="l01426"></a>01426 <span class="keyword">const</span> <span class="keywordtype">double</span> t505 = -t490 * t205 / 0.2e1 + t484 *  t501 / 0.2e1 - t504;
<a name="l01427"></a>01427 <span class="keyword">const</span> <span class="keywordtype">double</span> t506 = t505 * t58;
<a name="l01428"></a>01428 <span class="keyword">const</span> <span class="keywordtype">double</span> t513 = -t484 *  t241 / 0.2e1 + t486 * t236 / 0.2e1 - t495;
<a name="l01429"></a>01429 <span class="keyword">const</span> <span class="keywordtype">double</span> t517 = t490 * t233 - t486 * t243;
<a name="l01430"></a>01430 <span class="keyword">const</span> <span class="keywordtype">double</span> t518 = t517 * t58 / 0.2e1;
<a name="l01431"></a>01431 <span class="keyword">const</span> <span class="keywordtype">double</span> t522 = t490 * t28;
<a name="l01432"></a>01432 <span class="keyword">const</span> <span class="keywordtype">double</span> t525 = -t490 * t236 / 0.2e1 + t522 + t484 *  t223 / 0.2e1;
<a name="l01433"></a>01433 <span class="keyword">const</span> <span class="keywordtype">double</span> t526 = t525 * t58;
<a name="l01434"></a>01434 <span class="keyword">const</span> <span class="keywordtype">double</span> t533 = -t484 *  t266 / 0.2e1 + t504 + t486 * t261 / 0.2e1;
<a name="l01435"></a>01435 <span class="keyword">const</span> <span class="keywordtype">double</span> t539 = t490 * t258 / 0.2e1 - t522 - t486 * t269 / 0.2e1;
<a name="l01436"></a>01436 <span class="keyword">const</span> <span class="keywordtype">double</span> t540 = t539 * t58;
<a name="l01437"></a>01437 <span class="keyword">const</span> <span class="keywordtype">double</span> t543 = -t490 * t261 + t485;
<a name="l01438"></a>01438 <span class="keyword">const</span> <span class="keywordtype">double</span> t544 = t543 * t58 / 0.2e1;
<a name="l01439"></a>01439 <span class="keyword">const</span> <span class="keywordtype">double</span> t549 = t504 *  t29 - t486 * t45;
<a name="l01440"></a>01440 <span class="keyword">const</span> <span class="keywordtype">double</span> t553 = -t490 * t30 + t486 * t72;
<a name="l01441"></a>01441 <span class="keyword">const</span> <span class="keywordtype">double</span> t554 = t553 * t58;
<a name="l01442"></a>01442 <span class="keyword">const</span> <span class="keywordtype">double</span> t558 = t490 * t45 - t504 *  t71;
<a name="l01443"></a>01443 <span class="keyword">const</span> <span class="keywordtype">double</span> t559 = t558 * t58;
<a name="l01444"></a>01444 <span class="keyword">const</span> <span class="keywordtype">double</span> t562 = t399 * t58;
<a name="l01445"></a>01445 <span class="keyword">const</span> <span class="keywordtype">double</span> t567 = t421 * t58;
<a name="l01446"></a>01446 <span class="keyword">const</span> <span class="keywordtype">double</span> t572 = t445 * t58;
<a name="l01447"></a>01447 <span class="keyword">const</span> <span class="keywordtype">double</span> t577 = t465 * t58;
<a name="l01448"></a>01448 <span class="keyword">const</span> <span class="keywordtype">double</span> t582 = t488 * t58 / 0.2e1;
<a name="l01449"></a>01449 <span class="keyword">const</span> <span class="keywordtype">double</span> t587 = t513 * t58;
<a name="l01450"></a>01450 <span class="keyword">const</span> <span class="keywordtype">double</span> t592 = t533 * t58;
<a name="l01451"></a>01451 <span class="keyword">const</span> <span class="keywordtype">double</span> t597 = t549 * t58;
<a name="l01452"></a>01452 <span class="keyword">const</span> <span class="keywordtype">double</span> t634 = t392 + t394;
<a name="l01453"></a>01453 <span class="keyword">const</span> <span class="keywordtype">double</span> t635 = t7 * t634;
<a name="l01454"></a>01454 <span class="keyword">const</span> <span class="keywordtype">double</span> t638 = -t65 - t382;
<a name="l01455"></a>01455 <span class="keyword">const</span> <span class="keywordtype">double</span> t639 = t7 * t638;
<a name="l01456"></a>01456 <span class="keyword">const</span> <span class="keywordtype">double</span> t643 = (-0.2e1 * t639 * v2x0 - t387) * t28;
<a name="l01457"></a>01457 <span class="keyword">const</span> <span class="keywordtype">double</span> t645 = -0.2e1 * t635 * t31 + t142 - t643 *  t44;
<a name="l01458"></a>01458 <span class="keyword">const</span> <span class="keywordtype">double</span> t647 = t39 - t41;
<a name="l01459"></a>01459 <span class="keyword">const</span> <span class="keywordtype">double</span> t648 = t7 * t647;
<a name="l01460"></a>01460 <span class="keyword">const</span> <span class="keywordtype">double</span> t652 = 0.2e1 * t648 * t31 - t173 + t643 *  t71;
<a name="l01461"></a>01461 <span class="keyword">const</span> <span class="keywordtype">double</span> t653 = t652 * t58;
<a name="l01462"></a>01462 <span class="keyword">const</span> <span class="keywordtype">double</span> t659 = -0.2e1 * t648 * t46 + t51 + 0.2e1 * t635 * t73 - t125;
<a name="l01463"></a>01463 <span class="keyword">const</span> <span class="keywordtype">double</span> t660 = t659 * t58;
<a name="l01464"></a>01464 <span class="keyword">const</span> <span class="keywordtype">double</span> t668 = (-0.2e1 * t639 * v2x1 - t117) * t28;
<a name="l01465"></a>01465 <span class="keyword">const</span> <span class="keywordtype">double</span> t670 = -0.2e1 * t635 * t101 + t173 - t668 *  t44;
<a name="l01466"></a>01466 <span class="keyword">const</span> <span class="keywordtype">double</span> t675 = 0.2e1 * t648 * t101 + t142 + t668 *  t71;
<a name="l01467"></a>01467 <span class="keyword">const</span> <span class="keywordtype">double</span> t676 = t675 * t58;
<a name="l01468"></a>01468 <span class="keyword">const</span> <span class="keywordtype">double</span> t682 = -0.2e1 * t648 * t107 - t112 + 0.2e1 * t635 * t121 - t77;
<a name="l01469"></a>01469 <span class="keyword">const</span> <span class="keywordtype">double</span> t683 = t682 * t58;
<a name="l01470"></a>01470 <span class="keyword">const</span> <span class="keywordtype">double</span> t690 = -0.2e1 * t635 * t138 + t37 + 0.2e1 * t639 * t143;
<a name="l01471"></a>01471 <span class="keyword">const</span> <span class="keywordtype">double</span> t696 = 0.2e1 * t648 * t138 - t106 - 0.2e1 * t639 * t156;
<a name="l01472"></a>01472 <span class="keyword">const</span> <span class="keywordtype">double</span> t697 = t696 * t58;
<a name="l01473"></a>01473 <span class="keyword">const</span> <span class="keywordtype">double</span> t703 = -0.2e1 * t648 * t143 + t147 + 0.2e1 * t635 * t156 - t91;
<a name="l01474"></a>01474 <span class="keyword">const</span> <span class="keywordtype">double</span> t704 = t703 * t58;
<a name="l01475"></a>01475 <span class="keyword">const</span> <span class="keywordtype">double</span> t711 = -0.2e1 * t635 * t169 + t106 + 0.2e1 * t639 * t174;
<a name="l01476"></a>01476 <span class="keyword">const</span> <span class="keywordtype">double</span> t717 = 0.2e1 * t648 * t169 + t37 - 0.2e1 * t639 * t183;
<a name="l01477"></a>01477 <span class="keyword">const</span> <span class="keywordtype">double</span> t718 = t717 * t58;
<a name="l01478"></a>01478 <span class="keyword">const</span> <span class="keywordtype">double</span> t724 = -0.2e1 * t648 * t174 - t178 + 0.2e1 * t635 * t183 - t133;
<a name="l01479"></a>01479 <span class="keyword">const</span> <span class="keywordtype">double</span> t725 = t724 * t58;
<a name="l01480"></a>01480 <span class="keyword">const</span> <span class="keywordtype">double</span> t728 = t34 * t634;
<a name="l01481"></a>01481 <span class="keyword">const</span> <span class="keywordtype">double</span> t731 = 0.1e1 + t34 * t638;
<a name="l01482"></a>01482 <span class="keyword">const</span> <span class="keywordtype">double</span> t732 = t731 * t199;
<a name="l01483"></a>01483 <span class="keyword">const</span> <span class="keywordtype">double</span> t733 = t732 *  t223;
<a name="l01484"></a>01484 <span class="keyword">const</span> <span class="keywordtype">double</span> t734 = -t728 * t201 + t733;
<a name="l01485"></a>01485 <span class="keyword">const</span> <span class="keywordtype">double</span> t736 = t34 * t647;
<a name="l01486"></a>01486 <span class="keyword">const</span> <span class="keywordtype">double</span> t741 = t731 * t28;
<a name="l01487"></a>01487 <span class="keyword">const</span> <span class="keywordtype">double</span> t742 = t736 * t201 / 0.2e1 - t732 *  t501 / 0.2e1 + t741;
<a name="l01488"></a>01488 <span class="keyword">const</span> <span class="keywordtype">double</span> t743 = t742 * t58;
<a name="l01489"></a>01489 <span class="keyword">const</span> <span class="keywordtype">double</span> t749 = t728 * t28;
<a name="l01490"></a>01490 <span class="keyword">const</span> <span class="keywordtype">double</span> t750 = -t736 * t205 / 0.2e1 + t728 * t216 / 0.2e1 - t749;
<a name="l01491"></a>01491 <span class="keyword">const</span> <span class="keywordtype">double</span> t751 = t750 * t58;
<a name="l01492"></a>01492 <span class="keyword">const</span> <span class="keywordtype">double</span> t758 = -t728 * t233 / 0.2e1 + t732 *  t248 / 0.2e1 - t741;
<a name="l01493"></a>01493 <span class="keyword">const</span> <span class="keywordtype">double</span> t761 = t736 * t233 - t733;
<a name="l01494"></a>01494 <span class="keyword">const</span> <span class="keywordtype">double</span> t762 = t761 * t58 / 0.2e1;
<a name="l01495"></a>01495 <span class="keyword">const</span> <span class="keywordtype">double</span> t766 = t736 * t28;
<a name="l01496"></a>01496 <span class="keyword">const</span> <span class="keywordtype">double</span> t769 = -t736 * t236 / 0.2e1 + t766 + t728 * t243 / 0.2e1;
<a name="l01497"></a>01497 <span class="keyword">const</span> <span class="keywordtype">double</span> t770 = t769 * t58;
<a name="l01498"></a>01498 <span class="keyword">const</span> <span class="keywordtype">double</span> t777 = -t728 * t258 / 0.2e1 + t749 + t732 *  t241 / 0.2e1;
<a name="l01499"></a>01499 <span class="keyword">const</span> <span class="keywordtype">double</span> t783 = t736 * t258 / 0.2e1 - t766 - t732 *  t212 / 0.2e1;
<a name="l01500"></a>01500 <span class="keyword">const</span> <span class="keywordtype">double</span> t784 = t783 * t58;
<a name="l01501"></a>01501 <span class="keyword">const</span> <span class="keywordtype">double</span> t788 = -t736 * t261 + t728 * t269;
<a name="l01502"></a>01502 <span class="keyword">const</span> <span class="keywordtype">double</span> t789 = t788 * t58 / 0.2e1;
<a name="l01503"></a>01503 <span class="keyword">const</span> <span class="keywordtype">double</span> t794 = t728 * t30 - t741 *  t44;
<a name="l01504"></a>01504 <span class="keyword">const</span> <span class="keywordtype">double</span> t798 = -t736 * t30 + t741 *  t71;
<a name="l01505"></a>01505 <span class="keyword">const</span> <span class="keywordtype">double</span> t799 = t798 * t58;
<a name="l01506"></a>01506 <span class="keyword">const</span> <span class="keywordtype">double</span> t803 = t736 * t45 - t728 * t72;
<a name="l01507"></a>01507 <span class="keyword">const</span> <span class="keywordtype">double</span> t804 = t803 * t58;
<a name="l01508"></a>01508 <span class="keyword">const</span> <span class="keywordtype">double</span> t807 = t645 * t58;
<a name="l01509"></a>01509 <span class="keyword">const</span> <span class="keywordtype">double</span> t812 = t670 * t58;
<a name="l01510"></a>01510 <span class="keyword">const</span> <span class="keywordtype">double</span> t817 = t690 * t58;
<a name="l01511"></a>01511 <span class="keyword">const</span> <span class="keywordtype">double</span> t822 = t711 * t58;
<a name="l01512"></a>01512 <span class="keyword">const</span> <span class="keywordtype">double</span> t827 = t734 * t58 / 0.2e1;
<a name="l01513"></a>01513 <span class="keyword">const</span> <span class="keywordtype">double</span> t832 = t758 * t58;
<a name="l01514"></a>01514 <span class="keyword">const</span> <span class="keywordtype">double</span> t837 = t777 * t58;
<a name="l01515"></a>01515 <span class="keyword">const</span> <span class="keywordtype">double</span> t842 = t794 * t58;
<a name="l01516"></a>01516 cg[8*0 + 0] = t52 * t63 + t79 * t84 + t93 * t98;
<a name="l01517"></a>01517 cg[8*0 + 1] = t113 * t63 + t127 * t84 + t135 * t98;
<a name="l01518"></a>01518 cg[8*0 + 2] = t148 * t63 + t160 * t84 + t166 * t98;
<a name="l01519"></a>01519 cg[8*0 + 3] = t179 * t63 + t187 * t84 + t194 * t98;
<a name="l01520"></a>01520 cg[8*0 + 4] = t207 * t63 / 0.2e1 + t221 * t84 + t230 * t98;
<a name="l01521"></a>01521 cg[8*0 + 5] = t239 * t63 + t246 * t84 + t255 * t98;
<a name="l01522"></a>01522 cg[8*0 + 6] = t264 * t63 + t273 * t84 + t277 * t98;
<a name="l01523"></a>01523 cg[8*0 + 7] = t282 * t63 + t287 * t84 + t292 * t98;
<a name="l01524"></a>01524 cg[8*1 + 0] = t295 * t296 + t78 * t301 + t93 * t307;
<a name="l01525"></a>01525 cg[8*1 + 1] = t310 * t296 + t126 * t301 + t135 * t307;
<a name="l01526"></a>01526 cg[8*1 + 2] = t315 * t296 + t159 * t301 + t166 * t307;
<a name="l01527"></a>01527 cg[8*1 + 3] = t320 * t296 + t186 * t301 + t194 * t307;
<a name="l01528"></a>01528 cg[8*1 + 4] = t325 * t296 + t220 * t301 + t230 * t307;
<a name="l01529"></a>01529 cg[8*1 + 5] = t330 * t296 + t245 * t301 / 0.2e1 + t255 * t307;
<a name="l01530"></a>01530 cg[8*1 + 6] = t335 * t296 + t272 * t301 + t277 * t307;
<a name="l01531"></a>01531 cg[8*1 + 7] = t340 * t296 + t286 * t301 + t292 * t307;
<a name="l01532"></a>01532 cg[8*2 + 0] = t295 * t345 + t79 * t347 + t92 * t351;
<a name="l01533"></a>01533 cg[8*2 + 1] = t310 * t345 + t127 * t347 + t134 * t351;
<a name="l01534"></a>01534 cg[8*2 + 2] = t315 * t345 + t160 * t347 + t165 * t351;
<a name="l01535"></a>01535 cg[8*2 + 3] = t320 * t345 + t187 * t347 + t193 * t351;
<a name="l01536"></a>01536 cg[8*2 + 4] = t325 * t345 + t221 * t347 + t229 * t351;
<a name="l01537"></a>01537 cg[8*2 + 5] = t330 * t345 + t246 * t347 + t254 * t351;
<a name="l01538"></a>01538 cg[8*2 + 6] = t335 * t345 + t273 * t347 + t276 * t351 / 0.2e1;
<a name="l01539"></a>01539 cg[8*2 + 7] = t340 * t345 + t287 * t347 + t291 * t351;
<a name="l01540"></a>01540 cg[8*3 + 0] = t399 * t63 + t408 * t84 + t414 * t98;
<a name="l01541"></a>01541 cg[8*3 + 1] = t421 * t63 + t428 * t84 + t435 * t98;
<a name="l01542"></a>01542 cg[8*3 + 2] = t445 * t63 + t452 * t84 + t458 * t98;
<a name="l01543"></a>01543 cg[8*3 + 3] = t465 * t63 + t472 * t84 + t479 * t98;
<a name="l01544"></a>01544 cg[8*3 + 4] = t488 * t63 / 0.2e1 + t497 * t84 + t506 * t98;
<a name="l01545"></a>01545 cg[8*3 + 5] = t513 * t63 + t518 * t84 + t526 * t98;
<a name="l01546"></a>01546 cg[8*3 + 6] = t533 * t63 + t540 * t84 + t544 * t98;
<a name="l01547"></a>01547 cg[8*3 + 7] = t549 * t63 + t554 * t84 + t559 * t98;
<a name="l01548"></a>01548 cg[8*4 + 0] = t562 * t296 + t407 * t301 + t414 * t307;
<a name="l01549"></a>01549 cg[8*4 + 1] = t567 * t296 + t427 * t301 + t435 * t307;
<a name="l01550"></a>01550 cg[8*4 + 2] = t572 * t296 + t451 * t301 + t458 * t307;
<a name="l01551"></a>01551 cg[8*4 + 3] = t577 * t296 + t471 * t301 + t479 * t307;
<a name="l01552"></a>01552 cg[8*4 + 4] = t582 * t296 + t496 * t301 + t506 * t307;
<a name="l01553"></a>01553 cg[8*4 + 5] = t587 * t296 + t517 * t301 / 0.2e1 + t526 * t307;
<a name="l01554"></a>01554 cg[8*4 + 6] = t592 * t296 + t539 * t301 + t544 * t307;
<a name="l01555"></a>01555 cg[8*4 + 7] = t597 * t296 + t553 * t301 + t559 * t307;
<a name="l01556"></a>01556 cg[8*5 + 0] = t562 * t345 + t408 * t347 + t413 * t351;
<a name="l01557"></a>01557 cg[8*5 + 1] = t567 * t345 + t428 * t347 + t434 * t351;
<a name="l01558"></a>01558 cg[8*5 + 2] = t572 * t345 + t452 * t347 + t457 * t351;
<a name="l01559"></a>01559 cg[8*5 + 3] = t577 * t345 + t472 * t347 + t478 * t351;
<a name="l01560"></a>01560 cg[8*5 + 4] = t582 * t345 + t497 * t347 + t505 * t351;
<a name="l01561"></a>01561 cg[8*5 + 5] = t587 * t345 + t518 * t347 + t525 * t351;
<a name="l01562"></a>01562 cg[8*5 + 6] = t592 * t345 + t540 * t347 + t543 * t351 / 0.2e1;
<a name="l01563"></a>01563 cg[8*5 + 7] = t597 * t345 + t554 * t347 + t558 * t351;
<a name="l01564"></a>01564 cg[8*6 + 0] = t645 * t63 + t653 * t84 + t660 * t98;
<a name="l01565"></a>01565 cg[8*6 + 1] = t670 * t63 + t676 * t84 + t683 * t98;
<a name="l01566"></a>01566 cg[8*6 + 2] = t690 * t63 + t697 * t84 + t704 * t98;
<a name="l01567"></a>01567 cg[8*6 + 3] = t711 * t63 + t718 * t84 + t725 * t98;
<a name="l01568"></a>01568 cg[8*6 + 4] = t734 * t63 / 0.2e1 + t743 * t84 + t751 * t98;
<a name="l01569"></a>01569 cg[8*6 + 5] = t758 * t63 + t762 * t84 + t770 * t98;
<a name="l01570"></a>01570 cg[8*6 + 6] = t777 * t63 + t784 * t84 + t789 * t98;
<a name="l01571"></a>01571 cg[8*6 + 7] = t794 * t63 + t799 * t84 + t804 * t98;
<a name="l01572"></a>01572 cg[8*7 + 0] = t807 * t296 + t652 * t301 + t660 * t307;
<a name="l01573"></a>01573 cg[8*7 + 1] = t812 * t296 + t675 * t301 + t683 * t307;
<a name="l01574"></a>01574 cg[8*7 + 2] = t817 * t296 + t696 * t301 + t704 * t307;
<a name="l01575"></a>01575 cg[8*7 + 3] = t822 * t296 + t717 * t301 + t725 * t307;
<a name="l01576"></a>01576 cg[8*7 + 4] = t827 * t296 + t742 * t301 + t751 * t307;
<a name="l01577"></a>01577 cg[8*7 + 5] = t832 * t296 + t761 * t301 / 0.2e1 + t770 * t307;
<a name="l01578"></a>01578 cg[8*7 + 6] = t837 * t296 + t783 * t301 + t789 * t307;
<a name="l01579"></a>01579 cg[8*7 + 7] = t842 * t296 + t798 * t301 + t804 * t307;
<a name="l01580"></a>01580 cg[8*8 + 0] = t807 * t345 + t653 * t347 + t659 * t351;
<a name="l01581"></a>01581 cg[8*8 + 1] = t812 * t345 + t676 * t347 + t682 * t351;
<a name="l01582"></a>01582 cg[8*8 + 2] = t817 * t345 + t697 * t347 + t703 * t351;
<a name="l01583"></a>01583 cg[8*8 + 3] = t822 * t345 + t718 * t347 + t724 * t351;
<a name="l01584"></a>01584 cg[8*8 + 4] = t827 * t345 + t743 * t347 + t750 * t351;
<a name="l01585"></a>01585 cg[8*8 + 5] = t832 * t345 + t762 * t347 + t769 * t351;
<a name="l01586"></a>01586 cg[8*8 + 6] = t837 * t345 + t784 * t347 + t788 * t351 / 0.2e1;
<a name="l01587"></a>01587 cg[8*8 + 7] = t842 * t345 + t799 * t347 + t803 * t351;
<a name="l01588"></a>01588 }
<a name="l01589"></a>01589 
<a name="l01590"></a>01590 
</pre></div></div>
</td></tr></table>

<br /><hr><br />
<center><a href="http://perception.inf.um.es/QVision">QVision framework</a>.
<a href="http://perception.inf.um.es">PARP research group</a>.
Copyright &copy; 2007, 2008, 2009, 2010, 2011.</center>
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